Automotive embedded system timekeeping

ABSTRACT

The present disclosure is directed to systems and methods directed to improving the functions of a vehicle. Systems and methods are provided that provide a custom tool that autogenerates a set of software agents that allows a system to separate processing, transmission and receiving of messages to achieve better synchronization. The disclosure herein also provides a simplified method of key provisioning by designating one client as a server and assigning a symmetric key to every other client permanently provisioned between that client and the server. Systems and method are further provided that predict faults in a vehicle. Systems and methods are also provided that preserve data in the event of a system crash. Systems and methods are also provided in which an operating system of a vehicle detects the presence of a new peripheral and pulls the related interface file for that new peripheral. Further, a data synchronization solution is provided herein which provides optimized levels of synchronization.

CROSS REFERENCE TO RELATED APPLICATION

This disclosure claims the benefit of U.S. Provisional Application No.63/240,190 filed on Sep. 2, 2021, which is herein incorporated byreference in its entirety.

SUMMARY

The present disclosure is directed to systems and methods directed toimproving the functions of a vehicle.

A typical vehicle includes systems that perform functions requiringsynchronization. In many of these systems some tasks take priority andare allowed to preempt others, pausing a first task in favor of another.Some typical vehicle systems also run end-to-end checking and unpackingof data. In these tasks, signal data and end-to-end result data must besynchronized to ensure that the end-to-end result corresponds to thecorrect data. However, if a second task preempts an end-to-end check,the data will not correspond properly. The mismatch in data may cause anissue which may require additional cycles to fix or may even lead tosystem crash. Consequently, what is needed is a system for ensuringsynchronization between tasks. In accordance with the presentdisclosure, systems and methods are provided that provide a custom toolthat autogenerates a set of software agents that allows a system toseparate processing, transmission and receiving of messages to achievebetter synchronization. In some embodiments a preselected text-baseddescriptor file format (e.g., specially formatted DBC files) is used todescribe the network of the vehicle through multiple file fragments perbus. The descriptor file format may require a certain style of commentsor stubbed out portions that provide the needed information but wouldnot be executed. In another implementation, a descriptor file format mayrequire data to be provided in a certain order and with certain marks(e.g., with pre-defined variable names). In some embodiments, the codeauto-generation software is aware of the file format and may add signalsthat will compile without issue or additional processing.

Some embodiments include a method comprising accessing a file thatcomprises information for decoding bus data, generating, based on thefile, a plurality of software agents, wherein the software agents, whenexecuted, are configured to receive a raw message via the bus, the rawmessage to generate a signal value, generate a security protection valuefor the raw message, and in response to a request for the signal valuefrom an instance of an application executing based on instructions in aprotected memory location, provide synchronous access to the signalvalue and the security protection value. In some embodiments generatingthe plurality of software agents comprises a first set of instructionsfor execution from a first unsecure memory partition, wherein the firstset of instructions, when executed, is configured to receive a rawmessage from the bus, generating a second set of instructions forexecution from a protected memory partition wherein the second set ofinstructions, when executed, is configured to unpack the raw message togenerate the signal value, perform verification to generate the securityprotection value for the raw message, store the signal value and thesecurity protection value, and synchronously transmit the signal valueand the security protection value to the instance of an application, athird set of instructions for execution from a second unsecure memorypartition wherein the third set of instructions, when executed, isconfigured to unpack the raw message to generate a signal value,transmit the signal value to the instance of an application. In someembodiments the bus is a Controller Area Network (CAN) bus. In someembodiments the file is a database (DBC) file that comprisesinstructions for decoding CAN bus data from at least on sensor. In someembodiments the first unsecure memory partition is a Quality Management(QM) partition. In some embodiments the protected memory partition is anAutomotive Safety Integrity Level (ASIL) partition. In some embodimentsgenerating the security protection value comprises generating anEnd-to-End (E2E) status.

Some embodiments include a non-transitory computer readable mediumhaving instructions encoded thereon, that when executed by controlcircuitry causes the control circuitry to access a file that comprisesinformation for decoding bus data generate, based on the file, aplurality of software agents, wherein the software agents, whenexecuted, are configured to receive a raw message via the bus, unpackthe raw message to generate a signal value, a security protection valuefor the raw message, and response to a request for the signal value froman instance of an application executing based on instructions in aprotected memory location, provide synchronous access to the signalvalue and the security protection value. In some embodiments, thecontrol circuitry causes generation of the plurality of software agentsby generating a first set of instructions for execution from a firstunsecure memory partition, wherein the first set of instructions, whenexecuted, is configured to receive a raw message from the bus,generating a second set of instructions for execution from a protectedmemory partition wherein the second set of instructions, when executed,is configured to unpack the raw message to generate the signal value,perform verification to generate the security protection value for theraw message, store the signal value and the security protection value,and synchronously transmit the signal value and the security protectionvalue to the instance of an application, generating a third set ofinstructions for execution from a second unsecure memory partitionwherein the third set of instructions, when executed, is configured tounpack the raw message to generate a signal value, transmit the signalvalue to the instance of an application. In some embodiments the bus isa Controller Area Network (CAN) bus. In some embodiments the file is adatabase (DBC) file that comprises instructions for decoding CAN busdata from at least on sensor. In some embodiments the first unsecurememory partition is a Quality Management (QM) partition. In someembodiments the protected memory partition is an Automotive SafetyIntegrity Level (ASIL) partition. In some embodiments generating thesecurity protection value comprises generating an End-to-End (E2E)status.

Some embodiments include a vehicle system comprising a sensor connectedto at least one bus, and control circuitry configured to access a filethat comprises information for decoding bus data received from thesensor via the bus, and generate, based on the file, a plurality ofsoftware agents, wherein the software agents, when executed, areconfigured to receive a raw message via the bus, unpack the raw messageto generate a signal value, generate a security protection value for theraw message, and in response to a request for the signal value from aninstance of an application executing based on instructions in aprotected memory location, provide synchronous access to the signalvalue and the security protection value. In some embodiments the controlcircuitry is configured to generate the plurality of software agents bygenerating a first set of instructions for execution from a firstunsecure memory partition, wherein the first set of instructions, whenexecuted, is configured to receive a raw message from the bus,generating a second set of instructions for execution from a protectedmemory partition wherein the second set of instructions, when executed,is configured to unpack the raw message to generate the signal value,perform verification to generate the security protection value for theraw message, store the signal value and the security protection value,and synchronously transmit the signal value and the security protectionvalue to the instance of an application, generating a third set ofinstructions for execution from a second unsecure memory partitionwherein the third set of instructions, when executed, is configured tounpack the raw message to generate a signal value, transmit the signalvalue to the instance of an application. In some embodiments the bus isa Controller Area Network (CAN) bus. In some embodiments the file isdatabase (DBC) file that comprises instructions for decoding CAN busdata from at least one sensor. In some embodiments the first unsecurememory partition is a Quality Management (QM) partition. In someembodiments the protected memory partition is an Automotive SafetyIntegrity Level (ASIL) partition.

Typical vehicle systems include hardware or software modules that mayneed to exchange cryptographic key or keys (e.g., an ephemeral keys) toencrypt messages sent between each other. Existing systems areburdensome, requiring many keys and certificates for each module to havea private or public key for each secure transaction. An improved,simplified method of key provisioning is needed. The disclosure hereinprovides such a method by designating one client as a server andassigning a symmetric key to every other client permanently provisionedbetween that client and the server. This symmetric key minimizes theneed for a permanent key and can be used to leverage ephemeral keys.During an exchange, in some embodiments, one client may initiatecommunication with a second client. In some embodiments, the secondclient may then request an ephemeral key from the server, which wascreated for this transaction. The server also may verify that the firstclient indeed requested communication. The server may respond to client2 with the ephemeral key. In some embodiments, clients 1 and 2 are nowin possession of a shared key and may securely communicate. This methodreduces the number of keys required and simplifies secure communication.

Some embodiments include a method for establishing secure communicationsbetween a first node and a second node within a vehicle, the methodcomprising the steps of receiving, from the first node of the vehicle, afirst message comprising information identifying the second node of thevehicle, in response to receiving the first message, generating, usingthe vehicle's processing circuitry, an encryption key, communicating tothe first node of the vehicle information identifying the encryptionkey, receiving, from the second node of the vehicle, a second messagecomprising information identifying the first node of the vehicle,determining, using the processing circuitry, the second message is validbased on the first message, and communicating to the second node of thevehicle information identifying the encryption key. In some embodimentsthe first message further comprises a random number generated by thefirst node of the vehicle. Some embodiments include communicating a hashof the random number to the first node of the vehicle. In someembodiments the second message further comprises a random numbergenerated by the second node. Some embodiments include communicating ahash of the random number to the first node of the vehicle. In someembodiments, the first node of the vehicle and the second node of thevehicle are on a shared bus in the vehicle. In some embodimentscommunicating to the first node of the vehicle and the communicating tothe second node of the vehicle are done over the shared bus.

Some embodiments include a system for establishing secure communicationsbetween a first node and a second node within a vehicle, the systemcomprising a first message from the first node of the vehicle comprisinginformation identifying the second node of the vehicle a second messagefrom the second node of the vehicle comprising information identifyingthe first node of the vehicle wherein said second message is determinedto be valid based on the first message, and an encryption key whereinthe encryption key is identified to the first node and the second node.In some embodiments, the first message further comprises a random numbergenerated by the first node of the vehicle. Some embodiments include ahash of the random number wherein the hash is communicated to the firstnode of the vehicle. In some embodiments the second message furthercomprises a random number generated by the second node. Some embodimentsinclude a hash of the random number wherein hash is communicated to thefirst node of the vehicle. In some embodiments the first node of thevehicle and the second node of the vehicle are on a shared bus in thevehicle. In some embodiments the encryption key is identified to thefirst node and the second node by communication over the shared bus.

Some embodiments include a non-transitory computer-readable mediumhaving non-transitory computer-readable instructions encoded thereonthat, when executed by a processor, causes the processor to receive,from the first node of the vehicle, a first message comprisinginformation identifying the second node of the vehicle, in response toreceiving the first message, generate, using the vehicle's processingcircuitry, an encryption key, communicate to the first node of thevehicle information identifying the encryption key, receive, from thesecond node of the vehicle, a second message comprising informationidentifying the first node of the vehicle determine, using theprocessing circuitry, the second message is valid based on the firstmessage, and communicate to the second node of the vehicle informationidentifying the encryption key. In some embodiments the first messagefurther comprises a random number generated by the first node of thevehicle. Some embodiments include communicating a hash of the randomnumber to the first node of the vehicle. In some embodiments the secondmessage further comprises a random number generated by the second node.In some embodiments the first node of the vehicle and the second node ofthe vehicle are on a shared bus in the vehicle. In some embodiments thecommunicating to the first node of the vehicle and the communicating tothe second node of the vehicle are done over the shared bus.

Over the course of a vehicle's life, it will encounter malfunctions. Notonly can malfunctions in a vehicle cause inconveniences such asimpacting the vehicle's performance, they can be dangerous as they maycompromise the safety of the vehicle. They further may lead to othermalfunctions with additional problems. Given these complications, it isadvantageous to detect malfunctions as quickly as possible so that theymay be addressed before creating dangerous or expensive complications.In particular a system is needed that predicts faults before they occur.In accordance with the present disclosure, systems and method areprovided that predict faults in a vehicle. In some embodiments, thesystem includes a fleet of vehicles all of which are connected to aserver. The server may receive data from multiple vehicles in the fleetregarding the vehicle's metrics and conditions. The server further mayanalyze the received metrics and determine how often a particular issueoccurs. The server may store this information and continue to monitorvehicles. Another vehicle may report metrics similar to or with a showncorrelation to a particular issue and the server may provide earlyfailure detection to that vehicle. In some embodiments the server maytransmit an early warning to the vehicle urging repair or other action.In this way the disclosure provides a means of predicting a malfunctionand mitigating the harm it may cause.

Some embodiments include a method for predicting a fault event in avehicle, the method comprising monitoring, using processing circuitry, aplurality of operating parameters of a vehicle and a geographicallocation of the vehicle determining, using the processing circuitry,that values of the operating parameters and geographical location likelycorrelate to a fault event based on a model trained using respectivevalues of the operating parameters for a set of vehicles and respectivegeographical locations of the set of vehicles experiencing respectivefault events, and causing, using the processing circuitry, an action tobe performed in response to the determining. Some embodiments alsoinclude transmitting to a remote server the operating parameters and thegeographical location of the vehicle, wherein determining that thevalues of the operating parameters and the geographical location likelycorrelate to the fault event comprises receiving from the remove serverinformation indicative of the correlation. In some embodiments the modelis located at the remote server. In some embodiments causing the actionto be performed comprises causing a notification to be providedindicative of the fault event. In some embodiments causing the action tobe performed comprises causing a change to at least one of the pluralityof operating parameters to avoid the fault event from occurring. In someembodiments causing the action to be performed comprises causing at aremote server the action to be performed, wherein the action isperformed within the vehicle. In some embodiments the model isrepeatedly updated based on new data provided by the set of vehicles.

Some embodiments include a system for predicting a fault event in avehicle, the system comprising a plurality of operating parameters of avehicle, a geographical location of the vehicle, values of the operatingparameters and the geographical location likely correlate to a faultevent based on a model trained using respective values of the operatingparameters for a set of vehicles and respective geographical locationsof the set of vehicles experiencing respective fault events whereinvalues of the operating parameters and geographical location aredetermined to likely correlate to a fault event based on the model andan action performed in response to the determination. Some embodimentsinclude providing information indicative of the correlation of theoperating parameters and the geographical location of the vehicle to thefault event. In some embodiments the model is located at the remoteserver. Some embodiments include a notification indicative of the faultevent. In some embodiments the action comprises a change to at least oneof the plurality of operating parameters to avoid the fault event fromoccurring. In some embodiments the action is performed by a remoteserver and wherein the action is performed within the vehicle. In someembodiments the model is repeatedly updated based on new data providedby the set of vehicles.

Some embodiments include a non-transitory computer-readable mediumhaving non-transitory computer-readable instructions encoded thereonthat, when executed by a processor, causes the processor to monitor,using processing circuitry, a plurality of operating parameters of avehicle and a geographical location of the vehicle, determine, using theprocessing circuitry, that values of the operating parameters andgeographical location likely correlate to a fault event based on a modeltrained using respective values of the operating parameters for a set ofvehicles and respective geographical locations of the set of vehiclesexperiencing respective fault events, and cause, using the processingcircuitry, an action to be performed in response to the determining.Some embodiments include transmitting to a remote server the operatingparameters and the geographical location of the vehicle, whereindetermining that the values of the operating parameters and thegeographical location likely correlate to the fault event comprisesreceiving from the remove server information indicative of thecorrelation. In some embodiments the model is located at the remoteserver. In some embodiments to cause the action to be performedcomprises causing a notification to be provided indicative of the faultevent. In some embodiments to cause the action to be performed comprisescausing a change to at least one of the plurality of operatingparameters to avoid the fault event from occurring. In some embodimentsto cause the action to be performed comprises causing at a remote serverthe action to be performed, wherein the action is performed within thevehicle. In some embodiments the model is repeatedly updated based onnew data provided by the set of vehicles.

System crashes are a common problem in vehicle systems. Systems may forexample become unresponsive. In these situations, the system is at riskof losing data as some information may be irretrievable orunrecoverable. Loss of data may prevent functions from operatingproperly or from properly recording information, both of which may causevarious problems. Therefore, a system for preserving data is needed. Inaccordance with the present disclosure, systems and methods are providedthat preserve data in the event of a system crash. In some embodimentsthe system includes stand by memory. In some embodiments the system maytake one or more snapshots of system information and save it in thestand by memory. In some embodiments, the memory will not be clearedbetween boots. In this way, the disclosed system provides a means ofpreserving data in the event of a crash.

Some embodiments include a method for storing information about avehicle, the method comprising detecting, by processing circuitry, afault event and in response to the detecting generating, by theprocessing circuitry, the information about the vehicle at a time of thefault event, generating, by the processing circuitry, integrity databased on the information, causing to be stored, by the processingcircuitry, the information about the vehicle and the integrity data in aportion of volatile memory, wherein the portion of the volatile memoryis configured to retain stored data during a reboot of an operatingsystem of the vehicle, causing, using the processing circuitry, theoperating system of the vehicle to be rebooted, after rebooting,validating, using the processing circuitry, the information stored inthe volatile memory based on the integrity data, and in response to thevalidating, causing the information about the vehicle to be stored innon-volatile memory. In some embodiments the integrity data comprises acyclic redundancy check (CRC). In some embodiments the volatile memorycomprises random access memory (RAM). In some embodiments the portion ofvolatile memory is a dedicated portion of the volatile memory reservedfor the information and the integrity data. In some embodimentsdetecting the fault event comprises detecting a system crash. In someembodiments the information comprises a snapshot of a state of softwarein the vehicle. In some embodiments generating the information,generating the integrity data, and causing the information and theintegrity data to be stored is performed by an emergency stack that isprogrammed to be executed in the event of the fault event. Someembodiments include a system for storing information about a vehicle,the system comprising an operating system of a vehicle, a fault event,information about the vehicle at a time of the fault event, integritydata generated based on the information about the vehicle at a time ofthe fault event, a portion of volatile memory configured to retainstored data during a reboot of the operating system of the vehicle,wherein the information about the vehicle and the integrity data arestored in the portion of volatile memory in response to the fault event,non-volatile memory wherein in response to the operating system of thevehicle being rebooted, the information about the vehicle is validatedbased on the integrity data and wherein, in response to the validation,the information about the vehicle is stored in the non-volatile memory.In some embodiments the integrity data comprises a cyclic redundancycheck (CRC). In some embodiments the volatile memory comprises randomaccess memory (RAM). In some embodiments the portion of volatile memoryis a dedicated portion of the volatile memory reserved for theinformation and the integrity data. In some embodiments detecting thefault event comprises detecting a system crash. In some embodiments theinformation comprises a snapshot of a state of software in the vehicle.Some embodiments include an emergency stack that is programmed togenerate the information, generate the integrity data, and cause theinformation and the integrity data to be stored in the event of thefault event.

Some embodiments include a non-transitory computer-readable mediumhaving non-transitory computer-readable instructions encoded thereonthat, when executed by a processor, causes the processor to detect, byprocessing circuitry, a fault event, and in response to the detectinggenerate, by the processing circuitry, the information about the vehicleat a time of the fault event, generate, by the processing circuitry,integrity data based on the information, cause to be stored, by theprocessing circuitry, the information about the vehicle and theintegrity data in a portion of volatile memory, wherein the portion ofthe volatile memory is configured to retain stored data during a rebootof an operating system of the vehicle, cause, using the processingcircuitry, the operating system of the vehicle to be rebooted, afterrebooting, validate, using the processing circuitry, the informationstored in the volatile memory based on the integrity data, and inresponse to the validating, cause the information about the vehicle tobe stored in non-volatile memory. In some embodiments the integrity datacomprises a cyclic redundancy check (CRC). In some embodiments thevolatile memory comprises random access memory (RAM). In someembodiments the portion of volatile memory is a dedicated portion of thevolatile memory reserved for the information and the integrity data. Insome embodiments to detect the fault event comprises detecting a systemcrash. In some embodiments the information comprises a snapshot of astate of software in the vehicle.

A typical vehicle includes peripheral parts, such as a pump break.Peripheral parts are available from many manufacturers in many models.Often, interface files are dedicated to handling a specific file from aspecific peripheral. If the peripheral hardware changes, the existinginterface files cannot communicate with the new peripheral and entirelynew interface hardware is required. This is burdensome and can createdelays in the system. However, many peripherals, regardless of hardwareshare common components. Therefore, it is advantageous to provide asystem which is consistent regardless of peripheral hardware. Inparticular a system is needed that uses the same application code amongdifferent hardware. In accordance with the present disclosure, a systemis provided in which an operating system of a vehicle detects thepresence of a new peripheral and pulls the related interface file forthat new peripheral. In some embodiments the system provides anabstraction layer between the peripheral file and the applicationsreceiving peripheral data. In some embodiments, all software related tothe peripheral may be able to rely, directly or indirectly, on theabstraction layer, which may translate data from any peripheral with acommon function. Accordingly, the peripheral may now be changed withoutthe need to replace existing software.

Some embodiments include a method for updating a vehicle when a newhardware component is installed, the method comprising detecting, usingprocessing circuitry in the vehicle, the new hardware component,identifying, using the processing circuitry, an association between datagenerated by the new hardware component and at least one softwarecomponent of the vehicle, and generating, using the processingcircuitry, an updated interface for interpreting the data from thehardware component, wherein the updated interface converts the dataprovided by the hardware component into abstracted information, andwherein the updated interface provides the abstracted information to theat least one software component of the vehicle. In some embodiments thedata generated by the new hardware component comprises a database (DBC)file. Some embodiments include storing the updated interface in alibrary of interfaces, wherein generating the updated interfacecomprises accessing the updated interface from the library. In someembodiments the updated interface is selected from the library based onan identification of the new hardware component. Some embodimentsinclude processing, by the at least one software component of thevehicle, the abstracted information without regard to the data generatedby the new hardware component. In some embodiments the updated interfaceis used for bidirectional communication between the at least onesoftware component and the new hardware component. In some embodimentsgenerating the updated interface comprises modifying an existinginterface.

Some embodiments include a system for updating a vehicle when a newhardware component is installed, the system comprising the new hardwarecomponent, an association between data generated by the new hardwarecomponent and at least one software component of the vehicle, and aninterface configured to convert the data from the hardware componentinto abstracted information, wherein the interface provides theabstracted information to the at least one software component of thevehicle. In some embodiments the data generated by the new hardwarecomponent comprises a database (DBC) file. Some embodiments include alibrary of interfaces wherein the updated interface is stored. Someembodiments include an identification of the new hardware componentwherein the updated interface is selected from the library based theidentification of the new hardware component. In some embodiments theabstracted information is processed by the at least one softwarecomponent of the vehicle without regard to the data generated by the newhardware component. In some embodiments the updated interface is usedfor bidirectional communication between the at least one softwarecomponent and the new hardware component. In some embodiments theupdated interface is a modification of an existing interface.

Some embodiments include a non-transitory computer-readable mediumhaving non-transitory computer-readable instructions encoded thereonthat, when executed by a processor, causes the processor to detect,using processing circuitry in the vehicle, the new hardware componentidentify, using the processing circuitry, an association between datagenerated by the new hardware component and at least one softwarecomponent of the vehicle and generate, using the processing circuitry,an updated interface for interpreting the data from the hardwarecomponent, wherein the updated interface converts the data provided bythe hardware component into abstracted information, and wherein theupdated interface provides the abstracted information to the at leastone software component of the vehicle. In some embodiments the datagenerated by the new hardware component comprises a database (DBC) file.Some embodiments include to cause the processor to store the updatedinterface in a library of interfaces, wherein to generate the updatedinterface comprises accessing the updated interface from the library. Insome embodiments the updated interface is selected from the librarybased on an identification of the new hardware component. Someembodiments include causing the processor to process, by the at leastone software component of the vehicle, the abstracted informationwithout regard to the data generated by the new hardware component. Insome embodiments the updated interface is used for bidirectionalcommunication between the at least one software component and the newhardware component.

A key component of vehicle management systems includes regular datatransfers. At times, multiple nodes on the same bus must have theability to transfer data. Further it is imperative for vehicle functionthat some of these transfers are synchronized. While some nodes mayfunction with basic, or loose, synchronization, others require veryprecise synchronization. However, precise synchronization relies on manymessages back and forth between the client and the server and preciselysynchronizing every node may overwhelm the system, saturating the busand degrading performance. A hybrid solution which can accommodate bothloose and tight synchronization is needed. As described in the presentdisclosure, a hybrid solution is provided herein which provides theadvantage of offering tight synchronization when needed and loosesynchronization when tight synchronization is not needed. As disclosed,the server of the system may continuously transit its internal time. Areceiving node may then compare the time it has received a message fromthe server to the server's internal time and compute the difference. Thenode may then adjust its internal time to match that of the server, toachieve loose synchronization. For tight synchronization, a node mayrequest a precise synchronization and may include its own timestamp inthe request. The server may respond with the time the request wasreceived, which reflects any delay between the server and the client,and the time of its response. The node may compute the delay between theserver receipt and the server transmission, and the delay between nodetransmission and the node receipt and subtract these values. The nodemay also compute the clock offset by creating an average of the timedifference between the node clock and server clock. The offset valuesmay be used by the node to modify its local clock to tightly match theserver clock (e.g., by adding the roundtrip delay and clock offset toits internal clock).

Additionally, in some implementations a node may store a history ofcomputed clock offsets and roundtrip delays. If the history indicates astable pattern, the node may reduce the frequency at which it requeststight synchronization or stops sending request for tight synchronizationand rely on historical values instead to perform synchronization.Advantageously, if two nodes are synched to each other they can performa tight server synch using the same message from the server since theirtransmittal values will be the same.

Some embodiments include a system for tight synchronization between afirst client, a second client, and a time server, each associated with arespective local clock, the system comprising the time server connectedto a bus, the first client connected to the bus, the second clientconnected to the bus, wherein the first client is configured to requesttight synchronization with the time server by transmitting over the busa synchronization message, wherein the time server is configured togenerate a periodic synchronization message communicated over the bus,the time server client is configured to adjust the periodicsynchronization message based on the tight synchronization request fromthe first client by adjusting the next periodic synchronization messageto include: (a) a first time indicative of when the first clienttransmitted the synchronization message, (b) a second time indicative ofwhen the server received the tight synchronization request, and (c) athird time indicative of when the periodic synchronization message wassent by the time server, the first client is configured to perform tightsynchronization based on the adjusted periodic synchronization message,and the second client is configured to perform loose synchronizationbased on the adjusted periodic synchronization message. In someembodiments, the first client is further configured to perform the tightsynchronization based on content of the adjusted periodicsynchronization message and on a time of receipt of the adjustedperiodic synchronization message. In some embodiments thesynchronization message comprises data indicative of the first time.Some embodiments include memory for storing information about delaysbetween the time server and the first client. Some embodiments includecircuitry that determines a pattern based on the delays and causessynchronization between the first client and the time server to occurbased on the pattern.

Some embodiments include a method for tight synchronization between afirst client, a second client, and a time server, each associated with arespective local clock and each connected to a bus, the methodcomprising generating by the time server a periodic synchronizationmessage to be communicated over the bus, receiving at the time serverover the bus a synchronization message comprising a request for tightsynchronization from the first client, in response to receiving thesynchronization message, adjusting by the time server the periodicsynchronization message based on the tight synchronization request byadjusting the next periodic synchronization message to include: (a) afirst time indicative of when the first client transmitted thesynchronization message, (b) a second time indicative of when the serverreceived the tight synchronization request, and (c) a third timeindicative of when the periodic synchronization message was sent by thetime server, performing by the first client tight synchronization basedon the adjusted periodic synchronization message, and performing by thesecond client loose synchronization based on the adjusted periodicsynchronization message. Some embodiments include performing the tightsynchronization based on content of the adjusted periodicsynchronization message and on a time of receipt of the adjustedperiodic synchronization message. In some embodiments the first client,the second client, and the time server are located on a vehicle. In someembodiments the synchronization message comprises data indicative of thefirst time. Some embodiments include storing information about delaysbetween the time server and the first client in a memory. Someembodiments include determining by a processing circuitry a patternbased on the delays and causes synchronization between the first clientand the time server to occur based on the pattern.

Some embodiments include a non-transitory computer-readable mediumhaving non transitory computer-readable instructions encoded thereonthat, when executed by a processor, causes the processor to generate bythe time server a periodic synchronization message to be communicatedover the bus, receive at the time server over the bus a synchronizationmessage comprising a request for tight synchronization from the firstclient, in response to receiving the synchronization message, adjust bythe time server the periodic synchronization message based on the tightsynchronization request by adjusting the next periodic synchronizationmessage to include: (a) a first time indicative of when the first clienttransmitted the synchronization message, (b) a second time indicative ofwhen the server received the tight synchronization request, and (c) athird time indicative of when the periodic synchronization message wassent by the time server, perform by the first client tightsynchronization based on the adjusted periodic synchronization message,and perform by the second client loose synchronization based on theadjusted periodic synchronization message. Some embodiments includecausing the processor to perform the tight synchronization based oncontent of the adjusted periodic synchronization message and on a timeof receipt of the adjusted periodic synchronization message. In someembodiments the first client, the second client, and the time server arelocated on a vehicle. In some embodiments the synchronization messagecomprises data indicative of the first time. Some embodiments includecausing the processor to store information about delays between the timeserver and the first client in a memory. Some embodiments furtherinclude causing the processor to determine a pattern based on the delaysand causes synchronization between the first client and the time serverto occur based on the pattern.

Unit testing is an integral part of any software system including thoseoperating vehicle components. In a typical vehicle system, a softwarefunction may use input received from a second function. To ensureresults, it is advantageous to test the first function with everypossible input from the second using a mock version of the secondfunction which provides these values. However, many functions arewritten in a programming language in which providing mock versions of afunction requires a separate function. A separate function then requirestedious replacement in the testing setting. A solution is needed whichintegrates a mock function into the main function for functions whichare written in languages where a mock function is separate. According tothe disclosure herein, a solution is provided that compiles allfunctions separately into assembly code stitched together into one superimage. During the stitching adjustments to each sub-image are made toaccommodate for the fact that they are now located at a differentaddress space. Images to be compiled are fed into a mega-image creationprogram (MICP). The MICP, for each image, locates the position of thatimage in memory such that it does not conflict with memory requirementsof other images. Then the MICP, for every image, adjusts the machineinstructions within to reflect the new final address location. Next theMICP, as part of the final mega-image creation, creates a table of entrypoints into each sub-image within the mega image that is the combinationof all the sub-images, as well as the unit test framework. A single filemay then be flashed on a drive that can be used for both testing andproduction. In this way, mock functions are provided in a function fortesting regardless of the programming language used.

Some embodiments may include a method for overloading a function, themethod comprising compiling a first image of a first version of thefunction, compiling a second image of a second version of the function,and generating a stitched super-image by placing code defining the firstversion of the function and code defining the second version of thefunction into a memory partition, wherein the code defining the secondversion of the function is adjusted to not conflict with the code of thefirst version of the function, and generating a table that is used toselectively call either one of the first version of the function and thesecond version of the function. In some embodiments the first version ofthe function and the second version of the function are written in codethat does not allow overloading functions. In some embodiments the firstversion of the function and the second version of the function arewritten in C code. In some embodiments the memory partition is locationwithin a vehicle. In some embodiments the table defines a respectivememory address for each of the first version of the function and thesecond version of the function. In some embodiments the first image ofthe first version of the function comprises first assembler code and thesecond image of the second version of the function comprises secondassembler coder. Some embodiments further comprising calling eachversion of the function in the stitched super-image based on the table.

Some embodiments include a system for overloading a function, the systemcomprising a memory partition comprising code defining a first versionof the function and code defining a second version of the function,wherein the code defining the second version of the function is adjustedto not conflict with the code of the first version of the function, atable configured to selectively call either one of the first version ofthe function and the second version of the function, and a stitchedsuper-image generated from the table and the memory partition. In someembodiments the first version of the function and the second version ofthe function are written in code that does not allow overloadingfunctions. In some embodiments the first version of the function and thesecond version of the function are written in C code. In someembodiments the memory partition is location within a vehicle. In someembodiments the table defines a respective memory address for each ofthe first version of the function and the second version of thefunction. In some embodiments the first image of the first version ofthe function comprises first assembler code and the second image of thesecond version of the function comprises second assembler coder. In someembodiments each version of the function in the stitched super-image iscalled based on the table.

Some embodiments include a non-transitory computer-readable mediumhaving non-transitory computer-readable instructions encoded thereonthat, when executed by a processor, causes the processor to compile afirst image of a first version of the function compile a second image ofa second version of the function, and generate a stitched super-image byplacing code defining the first version of the function and codedefining the second version of the function into a memory partition,wherein the code defining the second version of the function is adjustedto not conflict with the code of the first version of the function, andgenerating a table that is used to selectively call either one of thefirst version of the function and the second version of the function. Insome embodiments the first version of the function and the secondversion of the function are written in code that does not allowoverloading functions. In some embodiments the first version of thefunction and the second version of the function are written in C code.In some embodiments wherein the memory partition is location within avehicle. In some embodiments the table defines a respective memoryaddress for each of the first version of the function and the secondversion of the function. In some embodiments the first image of thefirst version of the function comprises first assembler code and thesecond image of the second version of the function comprises secondassembler coder. Some embodiments further comprise causing the processorto call each version of the function in the stitched super-image basedon the table.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and other objects and advantages of the present disclosurewill be apparent upon consideration of the following detaileddescription, taken in conjunction with the accompanying drawings, inwhich like reference characters refer to like parts throughout, and inwhich:

FIG. 1 shows a block diagram of components of a vehicle in accordancewith some embodiments of the present disclosure,

FIG. 2 shows a block diagram for a system for operating a vehicle (e.g.,from FIG. 1 ), in accordance with some embodiments of the presentdisclosure,

FIG. 3 shows an exemplary architecture of the vehicle of FIG. 1 inaccordance with some embodiments of the present disclosure,

FIG. 4 a shows an exemplary occurrence of preemption causing asynchronization problem in accordance with some embodiments of thepresent disclosure,

FIG. 4 b shows an exemplary data flow diagram of generated softwareagents in accordance with some embodiments of the present disclosure,

FIG. 5 shows exemplary software agents created by the build system ofthe code auto-generation software in accordance with some embodiments ofthe present disclosure,

FIG. 6 shows an alternative version of exemplary software agents createdby the build system of the code auto-generation software in accordancewith some embodiments of the present disclosure,

FIG. 7 shows details of an exemplary implementation of the signalreceiving check described in FIG. 5 in accordance with some embodimentsof the present disclosure,

FIG. 8 shows details of an exemplary implementation of the transmissionprocedure described in FIG. 5 in accordance with some embodiments of thepresent disclosure,

FIG. 8 a shows a flow chart of illustrative steps for a method forsynchronizing data, in accordance with some embodiments of the presentdisclosure,

FIG. 9 shows an exemplary key exchange scenario in accordance with someembodiments of the present disclosure,

FIG. 10 shows an improved key provisioning protocol based on symmetrickeys in accordance with some embodiments of the present disclosure,

FIG. 11 shows a state machine for a node in an encryption algorithm inaccordance with some embodiments of the present disclosure,

FIG. 12 shows a state machine for a key server in an encryptionalgorithm in accordance with some embodiments of the present disclosure,

FIG. 12 a shows a flow chart of illustrative steps for a method forestablishing secure communications between a first node and a secondnode within a vehicle, in accordance with some embodiments of thepresent disclosure,

FIG. 13 shows an exemplary system for improving failure detection incircuitries or components of a vehicle in accordance with someembodiments of the present disclosure

FIG. 13 a shows a flow chart of illustrative steps for a method forpredicting a fault event in a vehicle, in accordance with someembodiments of the present disclosure,

FIG. 14 shows an exemplary system for facilitating crash recovery inaccordance with some embodiments of the present disclosure,

FIG. 14 a shows a flow chart of illustrative steps for a method forstoring information about a vehicle, in accordance with some embodimentsof the present disclosure,

FIG. 15 shows an exemplary system for management of versions of databasefiles for a micro-controller, such as a micro-controller of vehiclesdepicted in any of FIGS. 1-3 in accordance with some embodiments of thepresent disclosure,

FIG. 15 a shows a flow chart of illustrative steps for a method forupdating a vehicle when a new hardware component is installed, inaccordance with some embodiments of the present disclosure,

FIG. 16 shows an exemplary system for managing synchronization of timeof different modules connected via a single bus in accordance with someembodiments of the present disclosure,

FIG. 17 shows an interaction between a node that needs a tightsynchronization and the server in accordance with some embodiments ofthe present disclosure,

FIG. 18 shows an exemplary interaction illustrating roundup trip delayin accordance with some embodiments of the present disclosure,

FIG. 18 a shows a flow chart of illustrative steps for a method fortight synchronization between a first client, a second client, and atime server in accordance with some embodiments of the presentdisclosure,

FIG. 19 shows exemplary code for a Second Unit that is used to test afirst Unit in accordance with some embodiments of the presentdisclosure,

FIG. 20 shows exemplary code for a First Unit that is used that is beingtested in accordance with some embodiments of the present disclosure,

FIG. 21 shows an exemplary result of creating a super image of the codeof FIG. 19 and FIG. 20 in accordance with some embodiments of thepresent disclosure

FIG. 21 a shows a flow chart of illustrative steps for a method foroverloading a function, in accordance with some embodiments of thepresent disclosure.

DETAILED DESCRIPTION

Vehicle Overview

In accordance with the present disclosure, systems and methods areprovided that improve the operation of a vehicle (or multiple vehicles)by various improvements to configuration of hardware and/or software ofthe vehicle, multiple vehicles and/or server or servers configured tocommunicate with a vehicle or vehicles.

FIG. 1 shows a block diagram of components of a vehicle 100 inaccordance with some embodiments of the present disclosure. In someembodiments, the vehicle 100 may comprise any of a variety of suitablesystems used for controlling and operating a vehicle. For example, thevehicle 100 may include engine or engine systems, battery systems,autonomous driving systems, steering system or systems, pump brakesystem, vent system, and other suitable systems or any combinationthereof. In some embodiments, the vehicle may comprise one moreelectronic control units (ECUs) or circuitries (e.g., microcontrollers)for controlling some or all of the aforementioned systems. In someembodiments, the vehicle may include internal connections or networkingcomponents needed to link the systems of the vehicle.

In some embodiments, the vehicle may include a processor 105 orprocessors (e.g., a central processors and/or processors dedicated totheir subsystems). A processor may comprise a hardware CPU for executingcommands stored in memory 103 or software modules 112, 113, or acombination thereof. In some embodiments, the vehicle 100 may includeone or more units of transitory memory and/or one or more units ofnon-transistor memory. In some embodiments, memory 103 may be a part ofthe vehicle's circuitries. In some embodiments, memory 103 may includehardware elements for non-transitory storage of commands orinstructions, that, when executed by the processor 105, cause theprocessor 105 to operate the vehicle 100 in accordance with embodimentsdescribed above and below.

In some embodiments, a processor 105 may be communicatively connected tosensors 106, 107, a networking component, and user interface componentor components. The sensors 106, 107 may include video sensors, audiosensors, gas sensors, pressure sensors, GPS sensors, radio antennas,video cameras, microphones, pressure sensors, weight sensors, gassensors, sensors specific to vehicle capabilities, other sensors, or anycombination thereof.

In some embodiments, the processor 105 may use data from sensors 106,107 to operate the vehicle 100 and/or to perform other functions. Insome embodiments, the processor 105 may receive user input via a userinterface 102. In some embodiments, the user interface 102 may include ascreen. In some embodiments, the processor 105 may communicate with auser device and other data sources via a network that may be accessedvia a Networking Component 104.

In some embodiments, the vehicle 100 may include a plurality of softwaremodules (e.g., software modules 1-N) 112, 113. In some embodiments, eachof software modules 1-N 112, 113 may be controlled by the processor 105.In some embodiments, the vehicle 100 may include a plurality of hardwaremodules (e.g., hardware modules 1-N) 114, 115. In some embodiments, eachof hardware modules 1-N 114, 115 may be controlled by the processor 105or be operated by their own processor. In some embodiments, the vehicle100 may include circuitries and software specific to function ofoperations of the vehicle 100. For example, the vehicle 100 may includeone or more of Electric Control Modules (ECM) or Electric Control Units(ECU) 111 for controlling a motor or motors of the vehicle 100. Each ECM111 may have access to various sensors, e.g., MAP: Manifold AbsolutePressure, IAT: Intake Air Temperature, MAF: Mass of Air Flow, CKP: CrankShaft Position, CMP: CAM Shaft Position, ECT: Engine CoolantTemperature, O2: Oxygen Sensor, TP: Throttle Position, VSS: VehicleSpeed Sensor, Knock Sensor, APP: Acceleration Pedal Position,Refrigerant Sensor any other suitable or any combination thereof. Thevehicle 100 may include a Transmission Control Module (TCM) 108 fortransmission or transmissions of the vehicle, Vehicle Dynamics Module(VDM) 109, and Central Gateway Module (CGM) 110. The vehicle may alsoinclude any other suitable hardware or software systems.

Networking Overview

FIG. 2 shows a block diagram for a system for operating a vehicle (e.g.,from FIG. 1 ), in accordance with some embodiments of the presentdisclosure. The system may include multiple vehicles, including vehicle210 (e.g., the vehicle of FIG. 1 ) and other vehicles 220 and 230, andserver 250.

In some embodiments, the system may include network 240 communicativelyinterconnecting vehicles 210, 220, 230 and server 250. In someembodiments, network 240 may be the Internet, intranet, Bluetoothnetwork, LAN, WAN, a Wi-Fi network, any other wired or wireless network,or any combination thereof.

In some embodiments, each vehicle 210-230 may comprise processingcircuitry for carrying out functionalities of the vehicles as describedin various embodiment of this disclosure. In some embodiments, each ofvehicles 210-230 may comprise transitory and non-transitory memory forstoring data and instructions necessary for operation of the vehicle. Insome embodiments, each of vehicles 210-230 may comprise communicationcircuitry for communicating with server 250 over network 240. In someembodiments, the processing circuitry of each of vehicles 210-230 may becapable of collecting data from sensors or hardware or software modules(e.g., as shown in FIG. 1 ). Vehicles 210-230 may be consumer vehicles,or in some embodiments represent a fleet of commercial vehicles.

In some embodiments, server 250 may comprise a single server. In someembodiments, server 250 may comprise a plurality of servers distributedin one or more facilities. In some embodiments, server 250 may collectinformation from vehicles 210-230 (e.g., information generated bysensors of the vehicles 210-230) via network 240. In some embodiments,server 250 may send information to vehicles 210-230 via network 240according to embodiments described above and below.

Core Architecture Overview

FIG. 3 depicts an exemplary architecture of the vehicle of FIG. 1 (e.g.,of one of the processors cores of the vehicle, for example a core of theECM). For example, the architecture shown in FIG. 3 may be implementedusing processors and memory shown in FIG. 1 . While implementation of asingle core is shown, the vehicle may include any number of coresconnected by buses or networking elements.

In some embodiments, the architecture may be implemented using amicrocontroller 301. The microcontroller 301 may have access to ahardware abstraction module 307, an operating system kernel 302 (withinter-core commination functionalities) and self-test libraries 303.Further safety and security modules may include end-2-end (E2E)protection modules 304, monitoring modules 305, and redundancy module306. Some or all of the modules may use shared memory. The core may alsoperform a portion dedicated to performance of interval tasks.

In some embodiments, the architecture includes a controller abstractionlayer 308, which has access to Controller Area Network (CAN) 309, SerialPeripheral Interface (SPI) 310, Inter-Integrated Circuit (I2C) 311,Universal asynchronous receiver-transmitter (UART) 312, LocalInterconnect Network (LIN) 313, and Digital Input/Output (DIO) 314buses. The microcontroller 301 may also include chipset drivers 315, abootloader 316, Controller Area Network First-in-First-Out (FIFO) queues317 and an Ethernet component 318. Further networking module may also beincluded (e.g., including a gateway 319 for FreeRTOS communications 320,Uniform Data System (UDS) communications 321, Universal Measurement andCalibration Protocol (XCP) communications 322, Diagnostics Over InternetProtocol (DoIp) communications 323, ISO-Transport Layer (ISOTP)communications 324, VX1000 communications 325, and the like). Themicrocontroller 301 may also include ECU peripheral drivers 326, ahardware abstraction module 307, and a diagnostic event manager 327. Thekernel 302 may then be used to execute application code stored in thememory. In some embodiments, the architecture of a core may include anyother suitable hardware or software module.

The core enables the vehicle to access various functions andcapabilities including communication, synchronization, and datacollection. For example, the vehicle may communicate information, suchas diagnostics or fault codes, between external test equipment andautomotive control units (ECU) (using ECU peripheral Driver 326) overDoIP 323. This allows a vehicle system to, for example, track andanalyze diagnostic information to improve failure detection. The coremay also receive and send files to outside systems such as cloud serversvia Controller Area Network (CAN) bus or Unified Diagnostic Services(UDS) protocol. These files may be for example from peripheral devices(e.g., signals from a pump brake module, from an engine module such asECM, or any other core, or peripheral or sensor of a vehicle), or toother modules, its own applications, or other cores. This communicationenables functions that incorporate data from different parts of avehicle (i.e., brakes in communicating with a display unit, or storing adata snapshot after an ECU failure) or from different systems (i.e.,reporting data to an external server).

In some embodiments, a system (e.g., a core as shown in FIG. 3 ) of avehicle (e.g., as depicted in FIG. 1 ) may be able to receive messagesand signals from external modules (e.g., from sensors, other modules ofthe vehicle such as TCM or VDM). The DBC files may be used to define howmodules communicate with each other (e.g., a pump brake module, anengine module such as ECM, or any other core, peripheral or sensor of avehicle). The system (e.g., core 300 as shown in FIG. 3 ) of a vehiclemay also need to transmit data (e.g., data to other modules, to its ownapplications, or to other cores of other systems).

In one approach, the system includes individually programmed interfacesfor receiving and interpreting data, and/or applications fortransmitting the data. In some embodiments, the system may be executingin a real-time operating systems (RTOS). In RTOS's, tasks havepriorities and are allowed to preempt each other. Due to preemption, onetask may pause its execution when another task, with higher priority, isexecuted. Preemption may lead to a failure in the coherency of the data.

FIG. 4A shows exemplary occurrence of preemption causing asynchronization problem. For example, Task0_5 ms and Task0_100 ms mayboth become scheduled to run at t=0 ms on a system (e.g., a core).Because task0_5 ms has a higher priority, it is allowed to executefirst, and thus begins executing at time t=0 ms. When task0_5 msfinishes (e.g., at t=2 ms), task0_100 ms is allowed execution time onthe core (e.g., at t=2 ms), but task0_100 ms may not have enough timeuntil a second call to task0_5 ms needs to run again (at t=5 ms). Theoperating system of the system will “preempt” task0_100 ms in favor ofthe higher priority task task0_5 ms, and run the second instance of tasktask0_5 ms to completion (e.g., until t=7 ms), before switching back tofinish up the task0_100 ms task (e.g., t=7 ms). This preemptionproblematically cannot provide a guarantee that communication betweentask0_5 ms and task0_100 ms will be synchronized.

For example, task0_5 ms may be responsible for End-2-End (E2E) checkingand unpacking of signal data (e.g., data received via a CAN bus). Inthis example, task0_100 ms may need to receive: (a) signal data and (b)E2E result of the check for that signal (that would be provided bytask0_5 ms). For example, task0_100 ms may call one function to obtainthe signal data during 2 ms-5 ms part of its execution and then call adifferent function to obtain the E2E status during 7 ms-8 ms part of itsexecution. However, since a second instance of task0_5 ms was executedbetween 5 ms-7 ms time period, the E2E status received by the task0_100ms in the 7 ms-8 ms time period will not correspond to the signal datareceived by the task0_100 ms in the 2 ms-5 ms time period. This problembecomes more acute if task0_100 ms was running on a different core fromtask0_5 ms. The mismatch in data may cause desynchronization and otherprogramming issues in the execution of task0_100 ms, which may requireadditional cycles to remedy or may even lead to system crash.

Previous solutions to this problem would execute the E2E calculations inthe same partition in which the application code that requires the dataexecutes from. This provides synchronization of the E2E and message datawith the code since all information runs within the same context,however these such solutions have disadvantages. For one, message dataneeds to be synchronized between the context of the communication stackand the above-mentioned context. This would usually be handled byinvolving the operating system or a queue which is less portable andresource intensive. Also, if there is code running in other partitions,redundant calculations are required. These solutions also require thecode to run in lockstep with data that is coming in.

Accordingly, a solution is provided to ensure synchronization betweentasks, for example a method is provided to ensure that E2E data issynchronized with signal processing and sending data. In particular, acustom tool (e.g., a set of programming scripts) is provided thatautogenerates a set of software agents (e.g., in C programming language)that allow a system (e.g. including one or more cores) to separateprocessing, transmission and receiving of messages in order to achievebetter synchronization. In particular, E2E calculations for a receipt ofa signal may takes place within a single task while softwarearchitecture of a core and of the application (that would receive orsend the signal and E2E status) perform the necessary actions to ensurethat information received with synchronicity when required. Thisprovides for saving of CPU cycles on a core (e.g., core 300 shown inFIG. 3 .)

FIG. 4B shows an exemplary data flow diagram of the generated softwareagents. In some embodiments, there are thousands of signals that eachapplication in a vehicle (e.g., as shown in FIGS. 1-3 ) needs to receiveand send. Additionally, there are messages that need to be routedthrough many networks to various endpoints in a system of the vehicle.Some messages need to be validated (e.g., using an E2E status).Human-generated code for handing receipt of messages and for E2Evalidation is error-prone and may incorporate errors into the system.Accordingly, the system herein auto-generates code based on DBC data,wherein the resulting code enables customized software agents to providesignal and E2E status synchronization. For example, code may beautogenerated for the following tasks: gatewaying of messages betweennetworks, unpacking/packing signals between raw bytes and engineeringvalues, handling of end-to-end protection for message/signal integrity,handling of message scheduling, variant management of communicationnetworks, setting of communication related DTCs (Diagnostic TroubleCodes), enabling/disabling communication by network/message, and anyother suitable communication-related tasks.

In some implementations, a preselected text-based descriptor file format(e.g., specially formatted DBC files or other serialized formats) isused to describe the network of the vehicle through multiple filefragments per bus. For example, the descriptor file format may requirecertain style of comments or stubbed out portions that provide theneeded information but would not be executed. In another implementation,a descriptor file format may require data to be provided in a certainorder and with certain marks (e.g., with pre-defined variable names).DBC files or any other suitable preselected-descriptor file format maybe used by the code auto-generation software using the descriptor fileformat details. The code auto-generation software may use segments orfragments of these descriptor files to generate the source code. In thisway a signal or message may be transferred with assurance that the codewill compile and that the cores and applications will be able to accessthat message's or signal's value through a specified ApplicationProgramming Interface (API) without any further work or integrationneeded. The code auto-generation software may also handle variantmanagement (e.g., as described later in connection with FIG. 15 ). Insome embodiments, the code auto-generation software may include aframework for providing automated message redundancy (e.g., by switch amessage's source in ad hoc manner when there are multiple messagesources to choose from). In some embodiments, the code auto-generationsoftware may include schema for a new file format for replacing DBCfiles.

The output of the code auto-generation software may be a set ofprogramming files intended to be run on a top layer of the applicationstack of a core (e.g., a core of ECU) and/or with an application. Thegenerated programming files comprising of one or more programminglanguages (e.g., C, C++, Javascript, etc.) may be responsible forprocessing data (e.g., by generating files that include actual usablevalues), for performing E2E verification for the signal data, and forsending the signal data to other cores or applications. E2E checkingmodules may be configured to validate a single message given a runningstate of past messages. E2E libraries may be written per the AutomotiveOpen System architecture (AUTOSAR) specification. E2E checking mayprovide one of “error,” “OK,” “repeated,” “no new data” or “wrongsequence” values needed to validate the signal message.

In some examples, the build system of the code auto-generation softwaremay receive Source DBC files (e.g., in fragment form including commonparts and variants). The build system may then use a network frameraggregator to perform variant handling and perform DBC de-serialization.The build system may use a pre-defined network object (e.g., thatdescribes the network through multiple file fragments per bus) andprovided templates to generate run-time environment objects (e.g.,software agents described in more detail below in FIGS. 5-8 ). The buildsystem may also create aggregated DBC files.

The resulting software agents may provide memory protection and safeexecution environment. For example, all data received from a peripheraldevice needs to be performed in a safe environment. Additionally, memoryprotection needs to be active to protect memory needed for execution ofkey tasks (e.g., any process not qualified needs to be prohibited fromaccessing protected memory). To that end, memory (e.g., as shown in FIG.1 ) may be divided into several portions (e.g., as defined by ISO 26262standard): QM memory portion which may be a non-protected unqualifiedlevel of memory and various levels of ASIL portions (e.g., ASIL A-D)where each level of ASIL memory is more protected. The codeauto-generation software generates code that is further explained inFIGS. 5-8 .

FIG. 5 shows exemplary software agents created by the build system ofthe code auto-generation software that, when executed together,automatically provide E2E protection handing for a received signal.

In particular, tasks in the upper rectangle are executed by core 1(e.g., on top layer of the application stack of core 1). While tasks inthe lower level are executed by a higher-level application task thatrelies on the signal. As explained above in FIG. 4A, the applicationtask needs to be synchronized with E2E protection task (to avoid theapplication from receiving E2E status that corresponds to a wrongmessage). To that end, when a message is received (e.g., from core 0),the message is read by the E2E task 502 on core 1 (e.g., using E2Elibraries 503). The E2E task 502 on core 1 then writes both the signaland the E2E status of the signal in a form that may be used by theapplication. The E2E status may then be read by software that uses ASILB 504 or ASIL D 505 level of memory protection, while the signal itselfmay be accessed by software that uses ASIL B 504, ASIL D 505 or QM 506level of protection. Advantageously, all cross-core communications forevery E2E message (e.g., as E2E check) happens at core 1, which allowssupport for higher level of memory protection (e.g., at ASIL D level).Since the E2E calculation all takes place within one task, theapplication will also perform necessary actions to ensure thatinformation received is synchronized when required.

FIG. 6 shows another version of exemplary software agents created by thebuild system of the code auto-generation software that, when executedtogether, automatically provide E2E protection handing for a receivedsignal. In contrast to implementation of FIG. 5 , the E2E checks arehandled by the application. For example, E2E calculation may beperformed in the same context as the code that consumes the calculationbut requires the task to run at the same rate as the message.

In particular, tasks 601 in the upper level 607 are executed by core 1(e.g., on top layer of the application stack of core 1). While tasks inthe lower level 608 are executed by a higher-level application task thatrelies on the signal. To that end, when a message is received (e.g.,from core 0), the message is read by core 1 that writes a message foruse by the application. In this implementation, software that uses ASILB 602, ASIL D 603 or QM 604 level or protection may all access themessage. Then software that uses ASIL B 602 and software that uses ASILD 603 may both access E2E libraries 605 and generate the E2E message(e.g., as E2E check). In such embodiments, the applications may performthe E2E check during every message cycle.

FIG. 7 shows details of an exemplary implementation of the signalreceiving check described in FIG. 5 . Dotted fields indicate the codethat was created by the build system of the code auto-generationsoftware. As shown, the different code agents may reside in ASIL B 701,ASIL D 702, and QM 703 partitions and can be executed together to assuresynchronization between app task and Com Task (which may correspond totasks described in FIG. 4A). In this case, code in QM partition thatruns the Com Task receives a message via the FIFO 704 buffer and writesthe signal or message in a format that can be accessed by code in ASIL B701, ASIL D 702, and QM 703 partitions. The code in ASIL B partition 701may unpack the message and write signal data and the E2E state. Thesetwo values may then be accessed by an application in synchronizedmanner. The code in ASIL D 702 partition similarly may unpack themessage and write signal data and the E2E state. These two values maythen be accessed by an application in synchronized manner. In addition,code in ASIL D 702 may perform safety tasks. The code in QM partition703 may only make signal data available to the application and not theE2E data.

FIG. 8 shows details of an exemplary implementation of the transmissionprocedure described in FIG. 5 . Dotted fields indicate the code that wascreated by the build system of the code auto-generation software. Asshown, the different code agents may reside in ASIL B 801, ASIL D 802,and QM 803 partitions and may be executed together to assuresynchronization between app task and Com Task (which may correspond totasks described in FIG. 4A). In this case, code in QM partition 803 thatruns the Com Task writes a message to the FIFO buffer 804 based onsignals provided by code in ASIL B 801, ASIL D 802, and QM 803partitions. The code in ASIL B partition 801 may pack the message bycombining signal data and the E2E state. The code in ASIL B partition801 may also pack the message by combining signal data and E2E state. Inaddition, code in ASIL D 802 may perform safety tasks. The code in QMpartition may only make signal data (and not the E2E status) to ComTask.

Some embodiments include a method as in FIG. 8 a comprising accessing afile that comprises information for decoding bus data in step 810,generating, based on the file, a plurality of software agents, whereinthe software agents, when executed, are configured to receive a rawmessage via the bus, the raw message to generate a signal value,generate a security protection value for the raw message in step 820,and if a request for the signal value from an instance of an applicationexecuting based on instructions in a protected memory location isreceived in step 830, then provide synchronous access to the signalvalue and the security protection value in step 840. If no request isreceived at step 830, then the method moves to step 850 and no action istaken. In some embodiments generating the plurality of software agentscomprises a first set of instructions for execution from a firstunsecure memory partition, wherein the first set of instructions, whenexecuted, is configured to receive a raw message from the bus,generating a second set of instructions for execution from a protectedmemory partition wherein the second set of instructions, when executed,is configured to unpack the raw message to generate the signal value,perform verification to generate the security protection value for theraw message, store the signal value and the security protection value,and synchronously transmit the signal value and the security protectionvalue to the instance of an application, a third set of instructions forexecution from a second unsecure memory partition wherein the third setof instructions, when executed, is configured to unpack the raw messageto generate a signal value, transmit the signal value to the instance ofan application. In some embodiments the bus is a Controller Area Network(CAN) bus. In some embodiments the first unsecure memory partition is aQuality Management (QM) partition. In some embodiments the protectedmemory partition is an Automotive Safety Integrity Level (ASIL)partition. In some embodiments generating the security protection valuecomprises generating an End-to-End (E2E) status.

In some embodiments, different hardware or software modules may need toexchange cryptographic key or keys (e.g., an ephemeral keys) to encryptmessages sent between each other. For example, TCM, VDM and CGM of avehicle (e.g., as shown in FIGS. 1-3 ) may need to establish a securecommunication channel between each pair of modules. However, the sametechniques may be used between any software or hardware modules thatneed to exchange keys.

In one approach every module or node may have its own private key/publickey pair for secure commination. However, this may be burdensome,especially when certificates are needed to verify key sources. Toovercome this shortcoming, exemplary methods are provided for animproved key provisioning procedure.

FIG. 9 depicts an exemplary prior art key exchange scenario. In thisexample, 4 nodes create pairwise symmetric communication keys (e.g., DECkeys, although any other suitable key may be used). As noted, pairwisekey generation typically will require 6 key exchanges, which isburdensome. With 20 nodes, 190 key pairs would be needed for example. Toovercome the problems of these prior approaches, a scheme is provided togenerate ephemeral symmetrical keys between nodes based on leveraging apre-shared key between one node and server. The techniques will bedescribed for any two nodes and a server. In some examples, the CGM mayact as a server and TCM, VDM may be nodes. However, any other suitableserver and any other suitable nodes may be used. In some embodiments,the process may be repeated for other nodes that needs to share theprovisioned key.

FIG. 10 depicts an improved key provisioning protocol, based onsymmetric keys, that can be used to provision new symmetric keys atruntime (or at any other time) between multiple nodes. The solutionallows secure provisioning of new symmetric keys using only previoussymmetric keys. The technique is secure against eavesdropping andman-in-the-middle attacks. To deploy the solution, one node in thenetwork may be designated as a key server, and the rest designated askey clients. As a first step every client has a symmetric keypermanently provisioned between itself and the server. This minimizesthe need for permanent keys. For example, with 20 nodes, only 20 keysare needed instead of 190 key pairs. The pre-shared keys allowcommunication of a node with the server node and can also be leveragedto create ephemeral keys for use for encrypting communications betweennodes.

As shown in FIG. 10 , client 1 would like to create a secure channelwith client 2 by sharing an ephemeral symmetric key. Client 1 requests asymmetric key from the key server 1001 (e.g., a newly created ephemeralkey). In some embodiments, the request includes the address of thetarget node for channel creation (e.g., IP address of client 2), and arandom number (e.g., 16-bit number) generated by client 1. The randomnumber may be used as a challenge question for the server. For example,the server can be expected to re-transmit a reply based on that numberwhen replying with the key to help client 1 validate the server byexamining the received challenge response. This message may be sentwithout encryption or it may be encrypted using a pre-shared key forclient 1/Server.

Before a certain pre-set time period has expired, the server may replyto client 1 with a message that includes the newly provisioned key and aresponse to the challenge 1002. The newly provisioned key may be createdusing any suitable key creation technique (e.g., as defined in definedin IEEE Std 1363-2000 standard). The response to the challenge may be ahash (e.g., Cipher-based Message Authentication Code hash) of the randomnumber sent by client 1. The message may also be padded to comply withencryption block size. The entire message may be encrypted using a keythat was pre-shared for the client 1/Server pair (e.g., using a cipher).In some embodiments, the random number created by client 1 may be usedas initialization vector for the encryption algorithm.

Client 1 may then check the hash before proceeding. After the hashcheck, Client 1 may send a message to Client 2 to notify Client 2 thatClient 1 would like to initiate secure communication with Client 2 1003.This may be an un-encrypted (e.g., User Datagram Protocol (UDP) message.The messages may inform client 2 (e.g., via bit filed) whether thechannel will require encryption, authentication, or both. Client 2 nowbecomes apprised that the server has already generated an ephemeral keyfor this transaction. Client 2 may now send a message to the server torequest of copy of the newly provisioned ephemeral key for itself 1004.

Client 2 may now send a request for the ephemeral key to the server1004. The request may include address of the desired node (e.g., IPaddress of client 1) and a random number generated by client 2 (e.g., a16 bit number). This message may be sent without encryption or it may beencrypted using a pre-shared key for Client 2/Server.

The server may verify that client 1 has indeed previously requested achannel with Client 2 before responding to client 2. The responsemessage to client 2 1005 may include: (a) a response to the randomnumber challenge (e.g., a hash of the random number generated by client2), and (b) the same key that was provisioned at the request ofclient 1. The message may also be padded to comply with encryption blocksize. The entire message may be encrypted using a key that waspre-shared for the client 2 Server pair (e.g., using cipher). In someembodiments, the random number created by client 2 may be used asinitialization vector for the encryption algorithm.

Client 2 may check the response hash before proceeding 1006. After this,since client 1 and client 2 are in possession of the same key, they mayleverage that key for secure communication (e.g., for signing orencrypting messages between each other). In some embodiments, thecommunication may be performed over normal UDP or Transmission ControlProtocol (TCP) messages, or any other suitable messages.

FIG. 11 shows a state machine 1100 for a node in this algorithm. Forexample, from the “Idle” state 1101, the node may send a key request1102 (e.g., to the TCM) and wait to retry a predetermined number oftimes. In the initiator mode, when a key reply is received 1103 (and ifauthentication does not fail), the node may query the peer for secureconnection 1104. If the peer reply is received, the state returns to“idle” 1101 and communication with the peer may begin. In the receivemode, the node will reply back to the peer to indicate that samecommination is allowed 1105.

FIG. 12 shows a state machine for a key server in this algorithm. Fromthe “idle” state 1201, the server may receive an initiation request1202. In response, the server sends a reply 1203 or times out 1204 andreturns to the “idle” state 1201.

Some embodiments include a method for establishing secure communicationsbetween a first node and a second node within a vehicle as in FIG. 12 a, the method comprising the steps of receiving, from the first node ofthe vehicle, a first message comprising information identifying thesecond node of the vehicle 1210, in response to receiving the firstmessage, generating, using the vehicle's processing circuitry, anencryption key 1220, communicating to the first node of the vehicleinformation identifying the encryption key 1230, receiving, from thesecond node of the vehicle, a second message comprising informationidentifying the first node of the vehicle 1240, determining, using theprocessing circuitry, the second message is valid based on the firstmessage 1250, and communicating to the second node of the vehicleinformation identifying the encryption key 1260. In some embodiments thefirst message further comprises a random number generated by the firstnode of the vehicle. Some embodiments include communicating a hash ofthe random number to the first node of the vehicle. In some embodimentsthe second message further comprises a random number generated by thesecond node. Some embodiments include communicating a hash of the randomnumber to the first node of the vehicle. In some embodiments, the firstnode of the vehicle and the second node of the vehicle are on a sharedbus in the vehicle. In some embodiments communicating to the first nodeof the vehicle and the communicating to the second node of the vehicleare done over the shared bus.

FIG. 13 depicts an exemplary system for improving failure detection incircuitries or components of a vehicle (e.g., a vehicle depicted in FIG.1 ). For example, the failure detection may be performed by a server1300 (e.g., as depicted in FIG. 2 ). In some embodiments the server mayhave access to metrics data from multiple vehicles 1301, 1302, 1303,1304 within a commercial fleet environment or vehicles 1301, 1302, 1303,1304 may represent a set of consumer vehicles in communication with aserver associated with an manufacturer of the vehicles. For example, theserver may be in constant or periodic communication with each vehicle inthe fleet using networking circuitries of the server and the fleet(e.g., over cellular network or any other suitable type of a network).The server may collect data 1305 from all circuities of the vehicles inthe fleet. In one example, the server may collect ECU metrics data forall vehicles in the fleet.

After the server collects ECU metrics from a set of vehicles, the servercan store the metrics data in its database. The server may analyze themetrics in comparison to thresholds and determine how often a certainissue (e.g., a fault) occurs throughout the fleet and how that faultcorrelates with the metrics. By keeping track of this information, theserver may be able to provide early failure detection in a vehicle. Insome embodiments, the server may transmit an early warning 1306 to thevehicle indicating a fault and urging repair or another suitable action.

For example, the server may collect sensor data for each ECU of eachvehicle to record motor load, battery state or charge, coolanttemperature, motor temperature, motor RPM, air flow, any other suitablemetrics, or any combination thereof. Further complex ECU metrics mayinclude current and average processor load, any processor faults, RAMand non-volatile memory utilization (average and current), ECU coretemperature (current and average), network load (average and current),up time history, any other suitable processor metric or any combinationthereof. The server may also collect health information for any elementof the motor, e.g., age and performance for any part of the motor may becollected. The server may also receive software crash or malfunctionreports from each vehicle in the vehicle fleet. The server may correlatethe occurrences of the crashes with the state and history of metrics ofthe vehicles at the time of the crash or prior to the crash. Thecorrelation may grow stronger as more crash or malfunction reports arereceived from other vehicles. For example, the age or poor performanceof a certain motor part may become correlated with imminent malfunction.In some embodiments, a vehicle may report information to the server toboth be analyzed for discovery of correlations and receive faultwarnings of correlations itself. That is, a vehicle may both contributeto the system's knowledge while benefiting from the system itself. Whenthe server is certain of the correlation (e.g., of the correlationexceeds a certain threshold), the server may transmit imminent faultwarnings to a vehicle that has a part with a condition that iscorrelated with the fault. In some embodiments, warnings may be sentbased on correlation of any metric or combination of metrics with aparticular fault. The warnings may include a notification about whichpart of the vehicle needs service or replacement. The server maysimilarly collect and generate data for any other module of the vehicle.

In some embodiments, the server may utilize a machine learning model(e.g., a neural net) to predict fault. In such embodiments, the servertrains the machine learning model with metrics states known to cause afault. Once trained, the machine learning model may accept as inputcurrent metrics of a vehicle (e.g., ECU metrics) and output whether ornot an imminent fault is likely. If the fault is likely, the server maysend an appropriate notification to the vehicle. In some embodiments,the model is repeatedly updated as the server collects new data. In someembodiments, the model is located at the remote server.

In some embodiments, the notification to the vehicle may indicate theexpected fault. In some embodiments the notification may indicate arange in which the expected fault is likely to occur. This range may bein miles, hours, or any other relevant unit. For example, the server maywarn the vehicle that it is likely to overheat in 20 miles based on adetected state of a battery or motor part. In another example, theserver may warn the vehicle that a headlight is likely to go out in 12hours based on an identified state of a lamp or other circuitryassociated with the vehicle. In some embodiments, the notification maydescribe the correlation. For example, it may state that the vehicle hasdriven 65,000 miles which indicates that it is likely that the motorneeds maintenance.

In some embodiments, the notification may include a percentagelikelihood that a fault will occur. For example, the server may warnthat the vehicle has a 40% chance of battery failure. In someembodiments the notification may include indications of severity such ascolor changes or animation on a vehicle display viewable by the driver,or the indications may be delivered to a mobile device (e.g., cell phonehaving a mobile application associated with the server installedthereon) associated with the user. For example, an urgent risk may be inred and blinking while a minor risk may be in yellow. Severity may beassessed for example based on likelihood and potential danger orinconvenience. In some embodiments, the server may cause a change in anoperating parameter of a vehicle to avoid or mitigate the fault. Such achange may be performed to the vehicle wirelessly by a remote serverusing a software or other update. In some embodiments the server mayreceive data from sources other than the vehicles.

For example, the server may communicate with systems providing data onweather, traffic patterns, geographical location of the vehicle,altitude, route, and driver profile, among others. The server may thenincorporate this additional data in the analysis of correlation of afault. For example, the server may find that a certain fault, such asbattery performance, shows a correlation with outside temperature. Theserver may then, after having received weather predictions for theupcoming hours, warn a vehicle that a fault is likely to occur. Forexample, in the case of battery performance being correlated withtemperature, the server may learn that the temperature is likely to dropbelow a threshold at which point the temperature will impair batteryperformance. The server may then warn the vehicle of the upcoming changeor upcoming potential for impaired performance. Alternatively, theserver may find for example that another malfunction is common atfrequent stops and may receive information regarding upcoming traffic.The server may learn of traffic ahead that is likely to create frequentstopping. In that case, the server may similarly warn the vehicle that afailure is likely to occur. In another example, the server may find thatvehicles in a certain geographical location have a higher correlation toa specific fault and warn only vehicles in that location of the specificfault. In some embodiments the server may suggest an action. Forexample, in the scenario where traffic patterns may increase the risk ofa failure, the server may communicate to the system that an alternateroute is recommended.

Some embodiments include a method for predicting a fault event in avehicle as in FIG. 13 a , the method comprising monitoring, usingprocessing circuitry, a plurality of operating parameters of a vehicleand a geographical location of the vehicle in step 1310. Upondetermining, using the processing circuitry, that values of theoperating parameters and geographical location likely correlate to afault event in step 1320, wherein the correlation is based on a modeltrained using respective values of the operating parameters for a set ofvehicles and respective geographical locations of the set of vehiclesexperiencing respective fault events, causing, using the processingcircuitry, an action to be performed in response to the determining instep 1330. If no correlation is detected, the method moves to step 1340and. no action is taken. Some embodiments also include transmitting to aremote server the operating parameters and the geographical location ofthe vehicle, wherein determining that the values of the operatingparameters and the geographical location likely correlate to the faultevent comprises receiving from the remove server information indicativeof the correlation. In some embodiments the model is located at theremote server. In some embodiments causing the action to be performedcomprises causing a notification to be provided indicative of the faultevent. In some embodiments causing the action to be performed comprisescausing a change to at least one of the plurality of operatingparameters to avoid the fault event from occurring. In some embodimentscausing the action to be performed comprises causing at a remote serverthe action to be performed, wherein the action is performed within thevehicle. In some embodiments the model is repeatedly updated based onnew data provided by the set of vehicles.

FIG. 14 depicts an exemplary system for facilitating crash recovery(e.g. crash of the ECU) by a system of a vehicle (e.g., as shown in FIG.1 ). For example, the systems may handle a situation when an ECU locksup and becomes non-responsive, as a result the system may prevent datafrom becoming lost after the non-recoverable trap or another moduleresets an entire core (e.g., as shown in FIG. 3 ). In these situationsthe system avoids a hard power cycle but rather suffers a “soft” or“warm” crash. As a result, volatile memory contents can be retained.

As shown in FIG. 14 , the exemplary system of the vehicle may include acore with a processor 1401, regular Random-Access Memory (RAM) memory1402 (labeled as “Main Memory” in FIG. 14 ), and dedicated standby RAMmemory 1403 (labeled as “Standby Memory” in FIG. 14 ). In someembodiments, the standby RAM memory may be a part of the regular RAMmemory. In some embodiments, the standby RAM memory may be dedicatedcircuitry. The Operating System (OS) of the vehicle may includeinstructions dedicated to a low level failure (e.g., low level ECUfailure), bad code or memory protection failure, or a watchdog triggerevent. The processor may take a snapshot of system information and saveit in the standby RAM memory. For this purpose, the system may reserve aportion of RAM in a linker structure which will not be cleared betweenboots.

In some embodiments, the processor may protect the data by computingCyclic Redundancy Check (CRC) codes 1404 for blocks of the snapshottaken after the crash and stored in the standby RAM 1403. In this way,after a reboot, a CRC check 1404 can be performed to check if the datais valid. The data may then be reported out via Controller Area Network(CAN) bus or Unified Diagnostic Services (UDS) protocol. The system mayalso set a “fresh” flag in the standby memory to indicate presence ofnew data. The crash data in the standby RAM may later be copied tonon-volatile memory and/or to an external system (e.g., another core ora microcontroller).

In some embodiments, non-volatile memory (NVM) may be used to store asnapshot. In this way, the buffer containing crash information is noterased on a subsequent bootup, but is rather copied to non-volatilememory. For example, the core may include an emergency stack forperforming extra functions in a locked-up state. During a crash, thesystem may set a pointer to the emergency stack and call new functionsto take a snapshot. In some embodiments, stack overflow in the watchdogmodule may be redirected to a non-maskable interrupt handler.

In some embodiments, the snapshot may include a stack trace. Forexample, a system may access a 20-deep pre-allocated list of unsignedintegers, each saving an address of jump back instruction. In someembodiments, the snapshot may include a software git hash. In someembodiments, the snapshot may include a trap identifier. In someembodiments, the snapshot may include a watchdog status. In someembodiments, the snapshot may include a free running system timer value.In some embodiments, the snapshot may include any data of interest(stack pointer, status registers, timestamp, etc.).

In some embodiments, the crash data snapshot may be dumped to the CANbus through the heartbeat frame when the bootloader starts. Thebootloader may then operate normally. In some embodiments the data dumpmay be recorded by a data logger attached to the bus (e.g., to the CANbus).

In some embodiments, the snapshot may be a packed binary file that canbe obtained via a service such as Unified Diagnostic Services (UDS)protocol using a UDs client. The binary file may include a header filewith defined functions. A python tool may then be used to unpack thedata into human or system readable format. In some embodiments, thesystem may take snapshots during normal operation (e.g., periodically orbased on a system or user request) to provide added administrationtools. In some embodiments, the snapshot data maybe collected from anentire fleet and used to predict failure in other vehicles., e.g., asdescribed in FIG. 13 .

Some embodiments include a method for storing information about avehicle, as in FIG. 14 a , the method comprising detecting, byprocessing circuitry, a fault event 1410 and in response to thedetecting generating, by the processing circuitry, the information aboutthe vehicle at a time of the fault event 1420, generating, by theprocessing circuitry, integrity data based on the information 1430,causing to be stored, by the processing circuitry, the information aboutthe vehicle and the integrity data in a portion of volatile memory,wherein the portion of the volatile memory is configured to retainstored data during a reboot of an operating system of the vehicle 1440,causing, using the processing circuitry, the operating system of thevehicle to be rebooted 1450, after rebooting, validating, using theprocessing circuitry, the information stored in the volatile memorybased on the integrity data 1460, and in response to the validating,causing the information about the vehicle to be stored in non-volatilememory 1480. In some embodiments the integrity data comprises a cyclicredundancy check (CRC). In some embodiments the volatile memorycomprises random access memory (RAM). In some embodiments the portion ofvolatile memory is a dedicated portion of the volatile memory reservedfor the information and the integrity data. In some embodimentsdetecting the fault event comprises detecting a system crash. In someembodiments the information comprises a snapshot of a state of softwarein the vehicle. In some embodiments generating the information,generating the integrity data, and causing the information and theintegrity data to be stored is performed by an emergency stack that isprogrammed to be executed in the event of the fault event.

Some embodiments include a system for storing information about avehicle, the system comprising an operating system of a vehicle, a faultevent, information about the vehicle at a time of the fault event,integrity data generated based on the information about the vehicle at atime of the fault event, a portion of volatile memory configured toretain stored data during a reboot of the operating system of thevehicle, wherein the information about the vehicle and the integritydata are stored in the portion of volatile memory in response to thefault event, non-volatile memory wherein in response to the operatingsystem of the vehicle being rebooted, the information about the vehicleis validated based on the integrity data and wherein, in response to thevalidation, the information about the vehicle is stored in thenon-volatile memory. In some embodiments the integrity data comprises acyclic redundancy check (CRC). In some embodiments the volatile memorycomprises random access memory (RAM). In some embodiments the portion ofvolatile memory is a dedicated portion of the volatile memory reservedfor the information and the integrity data. In some embodimentsdetecting the fault event comprises detecting a system crash. In someembodiments the information comprises a snapshot of a state of softwarein the vehicle. Some embodiments include an emergency stack that isprogrammed to generate the information, generate the integrity data, andcause the information and the integrity data to be stored in the eventof the fault event.

Some embodiments include a non-transitory computer-readable mediumhaving non-transitory computer-readable instructions encoded thereonthat, when executed by a processor, causes the processor to detect, byprocessing circuitry, a fault event, and in response to the detectinggenerate, by the processing circuitry, the information about the vehicleat a time of the fault event, generate, by the processing circuitry,integrity data based on the information, cause to be stored, by theprocessing circuitry, the information about the vehicle and theintegrity data in a portion of volatile memory, wherein the portion ofthe volatile memory is configured to retain stored data during a rebootof an operating system of the vehicle, cause, using the processingcircuitry, the operating system of the vehicle to be rebooted, afterrebooting, validate, using the processing circuitry, the informationstored in the volatile memory based on the integrity data, and inresponse to the validating, cause the information about the vehicle tobe stored in non-volatile memory. In some embodiments the integrity datacomprises a cyclic redundancy check (CRC). In some embodiments thevolatile memory comprises random access memory (RAM). In someembodiments the portion of volatile memory is a dedicated portion of thevolatile memory reserved for the information and the integrity data. Insome embodiments to detect the fault event comprises detecting a systemcrash. In some embodiments the information comprises a snapshot of astate of software in the vehicle.

FIG. 15 depicts an exemplary system for management of versions ofdatabase (DBC) files for a micro-controller (e.g., a micro-controller ofvehicles depicted in any of FIGS. 1-3 ). DBC files may be definitionfiles that comply with SAE J1939 standards. DBC files may also be inspecial formatted definition files as described in relation to FIGS. 4-8. The DBC files may be used to provide data over Controller Area Network(CAN) bus from peripheral devices (e.g., from a pump brake module,engine module such as ECM, or any other peripheral or sensor of avehicle). DBC files will generally be in a form that must beinterpreted. For example, data from DBC may appear in the format shownin Table 1:

TABLE 1 0 18FE6900 X 8 9C 27 DC 29 FF FF F3 23 49.745760 R

This data may be decoded to receive values for certain definedparameters. For example, DBC file received from a pump brake system maydefine depression angle value. In another example, the DBC file receivedfrom an engine system may define values that include, manifoldtemperature, revolution per minute of the motor, etc. The conversionfrom a binary DBC data to usable values may be performed by an interfacefile that accepts data over CAN or Ethernet bus.

In one approach a single interface file is dedicated to handling acertain DBC file from a certain peripheral (e.g., from pump brakemodule). However, if the pump brake hardware was to be physicallymodified with a different pump brake, this would necessitate completereplacements of the interface file to handle the new version of aperipheral. This approach fails to leverage commonalities between DBCfiles for different versions of a peripheral and thus fails to usecommon parts of an interface file that could still be used, requiringinstead an entirely new interface file which can cause burdensome delaysin acquiring and installing new interface files. Moreover, a change inthe interface file may also require changes throughout the whole systemthat rely on data from the DBC file interpreter. Thus, a change in asingle peripheral may require changes throughout the architecture of avehicle (or another system).

To overcome the problems of the approaches described above, animplementation of vehicular architecture is provided that keepsapplication code the same across the board of the system while providingdifferent interfaces depending on vehicle type, architecture of thevehicle, or based on replacement of a certain peripheral. For example,different interfaces may be required for different versions of avehicle. In another example, a replacement of a peripheral may lead tothe need for a new version of DBC interpreter interface. In one example,a vehicle may receive, e.g., a new pump brake hardware which requires anew interface file.

In some embodiments, the operating system of a vehicle may detect thepresence of a new peripheral (e.g., new pump brake) by detecting a buildconfiguration event. Then, the operating system may pull in a newinterface file to flash into hardware of the vehicle. For example, theoperating system may identify an association between source files and avehicle software component (e.g., an association between data from a newpump brake and applications which handle the pump brake input and/or anyapplication that operates using data from the pump brake). The operatingsystem may then combine the associated source files in a root directoryand generate at least one interface abstraction layer for the vehiclesoftware component (e.g., ECU which may need the pump brake data) basedon the combined source files.

For example, the pump brake module may provide a DBC file that providesan angle of depression for the brake pedal. However, since differentbrakes have different “give,” the same angle change in the brakedepression value may be handled completely differently by other parts ofthe vehicle (e.g., the ECU or TCM). To solve the problem, the system mayprovide an abstraction layer 1506 between the DBC interpretation by anassociated interface and applications executing for other modules in thesystem. For example, the abstraction layer may provide an “intendedspeed change” value into the system instead of a raw angle value. Forexample, for one type of pump brake, a change in 5 degrees indicates adesired decrease of 5 MPH, and for another type of pump brake change in5 degrees indicated a desired decrease of 7 MPH. If all software relatedto brake actions are programmed to rely on the desired speed changemetric, an abstraction layer can be provided that converts DBC data fromthe pump brake into a desired speed change metric before providing thatdata to other applications. In this way, an interface version for thepump brake may be easily changed without any other changes to the restof the system. Similar abstractions may be used for any other value orvalues provided by the DBC files. The abstracted information maytherefore be processed without regard to the data generated by the newhardware component.

The update of the interface version may be performed by a systemdepicted in FIG. 15 . For example, the vehicle may include a UnifiedDiagnostic Services (UDS) server 1501 that allows outside devices toperform UDS operations (e.g., provisioning run-time control, retrievingruntime control, and erasing runtime control). These operations may beCRC protected. The UDS server makes it possible to connect a computer1502, known as UDS client, (e.g., computer or a dedicated tester tool)to the vehicle (e.g., via UDS interface). The UDS client 1502 may beprovisioned (e.g., via an external network such as the Internet) withencoded runtime configuration file for the vehicle. The encoded runtimeconfiguration file 1503 may be sent to the UDS server 1501 which thenmay write it to the variant library 1504 in the memory of the vehicle.The vehicle may use non-volatile memory, and optionally one or moreadditional libraries such as Power-loss resilience application to decodethe runtime configuration file 1503. As a result, an additional decodedruntime configuration 1505 may be added to the variant library storage.The application (e.g., ECM applications) may then request the neededconfiguration from the library during the runtime. Optionally, there maybe an abstraction layer available to the application that may accessabstracted data instead of raw values from DBC files.

In some embodiments, instead of discrete versions, the variant librarymay, instead define what is different in different versions of theruntime instructions. For example, certain parts of the code may beobfuscated in the code to achieve different versions. In someimplementations, the build system may access vehicle generationinformation and use that information to identify hardware differences.For example, a different interface ID for a battery or HVAC may beaccessed. Instead, if using a configuration specific to a certainvehicle model, the system may identify which parts of the vehicle aredifferent. For example, if two vehicles have a different HVAC system,the software module for controlling the HVAC may be switched in theconfiguration without affecting the rest of configuration (this may beenabled by the use of abstraction). A new local Interconnect Network(LIN) table may be used to accomplish this functionality. In anotherembodiment, the schedule table may be used to make the switch to at runtime. For example, the same binary may be loaded to all vehicles, andthe system may select correct code on the fly and ignore the coderelevant to other configurations.

In some embodiments, build-time configuration options may be replacedwith runtime configuration options. For example, in this way only asingle binary may be used for all vehicle variants. All otherconfiguration options can be set by this variant library.User-configurable or selectable variant options of a vehicle may also bestored using the variant library. As another example, a selectablevariant may be defined by the wheel size on the vehicle. Since wheelsize has an impact on vehicle dynamics, wheel size has a pre-definedimpact on the Vehicle Dynamics Module software, all software may beaffected. The wheel size may be abstracted in software and provided toall modules that rely on wheel size to perform their functions.

In some embodiments, similar techniques may be used for CAN interfacehandling. For example, a configuration file may denote a software orhardware difference. Depending on a string value denoting thedifferences, the build system may select correct DBC files from thedirectories in memory.

In some embodiments, runtime software variants may be handled in eachmodule (e.g., in an ECU) at runtime based on the configuration set inthe vehicle. When the configuration in a vehicle is changed the modulesoftware will operate differently based on the new configuration eventhough the software remains the same on the module. Runtime softwarevariants may be tracked in the ECU source code by using “if/then” or“switch” statements (e.g., in C programming language). Build-timesoftware variants may be generated by the software build system usingcompile-time flags. Multiple binaries may be made for the same module tosupport different vehicle configurations. In order to change thesoftware operation on a vehicle, the module (e.g., the ECU) may beflashed with different software after the configuration in the vehicleis changed. Build-time variants may be tracked and controlled by thevariant configuration map. The variant configuration map may be storedin the memory of the vehicle (e.g., in a software GitHub repository) aspart of the build scripts. During a software build the generatedbinaries are structured according to their variants within the vehiclesoftware package which is then uploaded and stored in the variantlibrary.

In some embodiments, vehicle generation IDs may be defined as a revisionof a specific platform. To handle the variants, multiple DBC files maybe combined based on those IDs defined in the project's buildconfiguration. DBC files may be broken apart by platform and thencombined into one DBC file per bus and placed in the storage prior tobuild time based on fields defined in the build configuration. Theoperating system may generate the interface abstraction files based oninterface variants. In this way, a folder of common interfaces andvehicle model specific commonalities may be generated that are definedto handle DBC files from multiple peripherals. For example, a folder forcommon DBC interfaces may exist as well variant folder for interfacesfor models which use different versions of hardware. As commonalitiesdecrease between platforms, the folder structure may end up changinginto a format that no longer uses the common folder.

Some embodiments include a method for updating a vehicle when a newhardware component is installed as in FIG. 15 a , the method comprisingdetecting, using processing circuitry in the vehicle, the new hardwarecomponent in step 1510, identifying, using the processing circuitry, anassociation between data generated by the new hardware component and atleast one software component of the vehicle 1520, determining whether anupdated interface is needed in step 1530, and if so, then in step 1540,generating, using the processing circuitry, an updated interface forinterpreting the data from the hardware component, wherein the updatedinterface converts the data provided by the hardware component intoabstracted information, and wherein the updated interface provides theabstracted information to the at least one software component of thevehicle. In no updated interface is needed in step 1520, then the methodmoves to step 1540 and no action is taken. In some embodiments the datagenerated by the new hardware component comprises a database (DBC) file.Some embodiments include storing the updated interface in a library ofinterfaces, wherein generating the updated interface comprises accessingthe updated interface from the library. In some embodiments the updatedinterface is selected from the library based on an identification of thenew hardware component. Some embodiments include processing, by the atleast one software component of the vehicle, the abstracted informationwithout regard to the data generated by the new hardware component. Insome embodiments the updated interface is used for bidirectionalcommunication between the at least one software component and the newhardware component. In some embodiments generating the updated interfacecomprises modifying an existing interface.

Some embodiments include a system for updating a vehicle when a newhardware component is installed, the system comprising the new hardwarecomponent, an association between data generated by the new hardwarecomponent and at least one software component of the vehicle, and aninterface configured to convert the data from the hardware componentinto abstracted information, wherein the interface provides theabstracted information to the at least one software component of thevehicle. In some embodiments the data generated by the new hardwarecomponent comprises a database (DBC) file. Some embodiments include alibrary of interfaces wherein the updated interface is stored. Someembodiments include an identification of the new hardware componentwherein the updated interface is selected from the library based theidentification of the new hardware component. In some embodiments theabstracted information is processed by the at least one softwarecomponent of the vehicle without regard to the data generated by the newhardware component. In some embodiments the updated interface is usedfor bidirectional communication between the at least one softwarecomponent and the new hardware component. In some embodiments theupdated interface is a modification of an existing interface.

Some embodiments include a non-transitory computer-readable mediumhaving non-transitory computer-readable instructions encoded thereonthat, when executed by a processor, causes the processor to detect,using processing circuitry in the vehicle, the new hardware componentidentify, using the processing circuitry, an association between datagenerated by the new hardware component and at least one softwarecomponent of the vehicle and generate, using the processing circuitry,an updated interface for interpreting the data from the hardwarecomponent, wherein the updated interface converts the data provided bythe hardware component into abstracted information, and wherein theupdated interface provides the abstracted information to the at leastone software component of the vehicle. In some embodiments the datagenerated by the new hardware component comprises a database (DBC) file.Some embodiments include to cause the processor to store the updatedinterface in a library of interfaces, wherein to generate the updatedinterface comprises accessing the updated interface from the library. Insome embodiments the updated interface is selected from the librarybased on an identification of the new hardware component. Someembodiments include causing the processor to process, by the at leastone software component of the vehicle, the abstracted informationwithout regard to the data generated by the new hardware component. Insome embodiments the updated interface is used for bidirectionalcommunication between the at least one software component and the newhardware component.

FIG. 16 depicts an exemplary system for managing synchronization of timeof different modules (e.g., hardware and/or software) connected via asingle bus (e.g., a CAN bus). In particular, the techniques may beapplied to any kind of a many-master bus-based protocol (e.g., whenthere are many bus master nodes present on the bus). Such busses may beused when multiple nodes on the bus must have an ability to initiatetransfer of data. For example, a many-master bus may be used to transferdata between peripherals and memory without the use of CPU.

In an exemplary vehicle (e.g., as depicted in FIGS. 1-3 ), multiplenodes (e.g., ECUs) may be connected to a bus 1600 (e.g., a CAN bus orany other many-master bus) as shown, in FIG. 16. Each circle in FIG. 16may represent a node 1601, 1602, and so on. Often, individual nodes(e.g., ECUs) may need to know a measure of time, which is consistentacross the bus. In one approach, a single node may be nominated (e.g.,at random) as the “time server.” This time server node may thenbroadcast its internal clock on the bus. All other nodes would thenreceive this broadcast message and synchronize their internal clocks tothis.

However, this prior solution does not consider the time delay betweenthe point at which the time is set on a bus message by the time server,and the time it is finally received and processed by a receiving node.The delay may be caused by several variable sources of delay. Thesources of delay may include the time it takes for the time synchbroadcast to go through the server's software stack before it can betransmitted over a hardware bus. The sources of delay may include thetime the message spends travelling on the wire of the bus (which may benon-deterministic in bus managements systems that use arbitrationprotocols). The sources of delay may include the time it takes toprocess the received message by the client's software stack before theclient can access the time value. For these reasons, when the clientupdates its internal clock to the time it just received in the busmessage, it is synchronizing to a time in the past. In this approach theinternal clock of a client will be lagging the time of the time servernode. Some nodes may not care about such a relatively small timedifference (e.g., nodes 1602 and 1603), however other nodes may wantprecise and tight time synchronization (e.g., a node 1604) with theserver nodes (1601).

Another approach to time synchronization is described by Simple NetworkTime Protocol (SNTP) protocol, RFC 1769,https://datatracker.ietforg/doc/html/rfc1769 which is incorporatedherein in its entirety. In such approach, a client sends its local timein a synchronization message to the time server. The server replies witha synchronization message that includes both client's local time as wellas the server's local time. The client may then compute the delay (e.g.,by subtracting time stamps) between the client and the server and adjustits clock by the delay value achieving tighter synchronization. Thedownside of this approach is that it requires point to pointcommunication between each node and the time server. Large amounts ofsuch messages may saturate the bus and degrade bus performance. Inaddition, some nodes may not need tight synchronization in which casethey will still flood the bus with totally unneeded synchronizationmessages.

FIGS. 17 and 18 show a hybrid solution to node synchronization that canaccomplish both loose and tight synchronization as required by multiplenodes with different needs on the same bus. This method provides theability of the node to choose its level of time synchronization. Bypassively listening to time updates it can maintain a sub-par level ofsynchronization. By actively requesting time updates it can maintain ahigh level of synchronization without affecting the other nodes on thenetwork. As shown in FIG. 17 , the server node may continuously (e.g.,periodically or at other specific intervals) transmit (e.g., bybroadcasting on a bus) a message that includes the server's internaltime. For example, the message may include a “Transmit” field thatincludes a time value of the server's internal clock when the message iscreated. For example, the transmit timestamp may have value of “47.5 ms”

The message may experience server stack delay, wire delay, and clientstack delay before being processed by a time client node which maymodify the message by adding a destination timestamp at the time ofreceipt of the message. For example, the destination timestamp may havea value of “60 ms.” The node may then compute the difference between thetransmit and destination timestamps to adjust its clock. For example,the node may adjust its clock to “47.5 ms” to achieve loosesynchronization. The client node may perform this synchronizationwhenever it is suitable (e.g., every time the synch message from theserver is received or using only some of the broadcast messages).

FIG. 17 , shows an interaction between a node that needs a tightsynchronization and the same server. In this case, the server may alsocontinuously (e.g., periodically or at other specific intervals)transmit (e.g., by broadcasting on a bus) a message that includes theserver's internal time. However, the server may account forsynchronization requests sent by nodes via a bus.

In FIG. 17 for example, a node that needs a tight synchronization maytransmit a synch request which includes a timestamp 1701 at the time oftransmittal using the node's internal clock. For example, the transmitfield may include a value of “56.5” (which is the node's local time).The node may save a local copy of the transmit field for verification.

When the time server receives such a request, it may modify its nextperiodically sent time update message. In some embodiments, the servermay receive several tight synch requests before the next update message.In this case the server may process only one of these requests (e.g.,the first one, or one selected at random). In particular, the server maycreate the next synch update message by placing the transmit value ofthe received messages into an “originate” field. For example, the“originate” field may include a value of “56.5.” The server may alsoinclude a timestamp 1702 indicating when the message sent by the nodewas received by the server using the server's clock. For example, the“receive” file may have the value of “60.” The server will then send theupdate message (e.g., at the originally schedule time or immediately)wherein the update message will include the time of transmittal based onthe server's clock. For example, the transmit value may be set to“60.5.”

When the client receives the synch message it may modify it by adding atimestamp into the destination field based on its own clock. When theclient receives the synch message from the server that has a non-zero“originate” value, the client may compare the “originate” field to theinitial “transmit” time of the message sent by the node (and stored inthe node's memory). If the fields do not match, the node may still usethe received message from the server for loose synchronization (e.g., asdescribed with respect to FIG. 16 ). If the fields do match, the clientmay perform a tight synchronization.

In particular, the tight synchronization may be performed by computing aroundtrip delay 1801 e.g., where the roundtrip delay=(“Destination”value 1802—“Originate” value 1803)—(“receive” value 1804—“transmit”value 1805), as shown in FIG. 18 . That is, the client node may computethe delay between the server receipt and the server transmission, thedelay between node transmission and the node receipt and subtract thesevalues. The node may also compute the clock offset 1806 by averaging:(a) a time difference between the “originate” value 1803 (node clock)and receive time 1804 (server clock), and (b) a time difference between“transit value” 1805 (server clock) and “destination” 1802 (node clock).The roundtrip delay and offset values may be used by the node to modifyits local clock to tightly match the server clock (e.g., by adding theroundtrip delay and clock offset to its internal clock). Advantageously,if two nodes are synched to each other they can perform a tight serversynch using the same message from the server (because their transmittalvalues will be the same).

Additionally, in some implementations a node may store a history ofcomputed clock offsets and roundtrip delays. If the history indicates astable pattern, the node may reduce the frequency at which it requeststight synchronization or stops sending request for tight synchronizationand rely on historical values instead to perform synchronization. Thismay further reduce congestion on a bus (e.g., on the CAN bus).

Some embodiments such as that seen in FIG. 18A include a method fortight synchronization between a first client, a second client, and atime server, each associated with a respective local clock and eachconnected to a bus, the method comprising the steps of: generating bythe time server a periodic synchronization message to be communicatedover the bus 1810, receiving at the time server over the bus asynchronization message comprising a request for tight synchronizationfrom the first client 1820, in response to receiving the synchronizationmessage, adjusting by the time server the periodic synchronizationmessage based on the tight synchronization request by adjusting the nextperiodic synchronization message to include: (a) a first time indicativeof when the first client transmitted the synchronization message, (b) asecond time indicative of when the server received the tightsynchronization request, and (c) a third time indicative of when theperiodic synchronization message was sent by the time server 1830,performing by the first client tight synchronization based on theadjusted periodic synchronization message 1840, and performing by thesecond client loose synchronization based on the adjusted periodicsynchronization message 1850.

FIGS. 19-21 depict an example for stitching together assembly code fortesting devices (e.g., integrated circuits). In particular systems andmethods are provided to create compiled machine-readable code (e.g.,assembly code) for testing multiple version of functions that arecompiled from a language that does not allow function overloadingoperations (e.g., C language). The device may be any circuitry of avehicle as shown in FIGS. 1-3 . In some embodiments, the device may beany suitable electronic device.

Unit testing is an integral part to safe software development. Forexample, the ISO26262 standard highly recommends that safety criticalsoftware have unit testing on the target device or circuitry for whichthe code is intended to be run. To that end, during testing, software isprovided to the device to be compiled and/or loaded on the existinghardware. Such testing ensures that any compiler or hardware specificfeatures are properly accounted for in the device test.

In some implementations, a circuitry that is to be tested (e.g., anembedded circuitry of the vehicle) may receive and install the entireapplication as a single complied binary code in assembly language. Forexample, for all applications, drivers, and necessary libraries may becompiled into a single image, within a single memory space of thecircuitry. However, such a requirement makes it difficult to performexhaustive testing of all inputs for certain functions.

In one example, a first function on a first device may require an outputof a second function produced by a second device. In this case toexhaustively test operation of the first function on the first device,it would be beneficial to test every possible output that can beprovided by the second function produced by a second device. Toaccomplish this the second device may be flashed with code where thesecond function is replaced with a fake (also known as stubbed ormocked) function that simply provided a value set by the programmed orruns through every possible output instead of providing realfunctionality. For example, a TCM may have a function that requires aRevolutions Per Minitel (RPM) value from an ECM. In this case, whentesting the TCM software, it may be beneficial to spoof an RPM provisionfunction on the ECM that iterates through every possible RPM value.However, this means that the ECM that was used to test the TCM wouldeventually have to be-re-flashed with images for testing other functionsor a real image that includes a real function that returns a real RPMvalue. Such a process of creating and re-flashing multiple binary imagesmay be burdensome and may lead to errors if a wrong image is used.

In one approach function overloading may be used. In this case multipleversions of a function can exist, and the system may differentiate whichfunction is called (e.g., based on inputs of the function call).However, multiple embedded systems do not accept code compiled from suchlanguages and may accept code from languages that do not supportoverloading (e.g., C programming language).

When such languages are used, for any given image, only one copy of afunction may exist. This means that if a function needs to be stubbedout for a fake test function to test another function, then that stubbedfunction is the only copy in the entire image. If, for example, the nextunit under test was the stubbed-out function, it cannot co-exist in thesame image as the previous one. In practice, this means multiple imagesmust be compiled for the different units under test. The process offlashing these multiple images onto the target hardware and collectingthe results is onerous.

To overcome this problem a method is provided that compiles all theneeded images (included the real images, and all images with stubbed outfunctions) separately into assembly code. Then, the assembly code isstitched together into a single super-image. During the stitchingadjustments to each sub-image are made to accommodate for the fact thatthey are now located at a different address space. This allows forflashing a single file that can be used for all testing and inproduction.

This solution requires no additional technology on top of the languagewith no function overloading (e.g., C programming language) and placesno constraints of the target hardware. For example, the solution doesnot necessitate the use of a memory management unit, a new operatingsystem, or a different programming language. The solution is broadlyapplicable to all types of suitable hardware and can greatly increasethe efficiency of on-target unit testing. Moreover, the solutionpromotes isolation between unit tests, which is a central tenant ofproper unit testing, and was hereto difficult to achieve using thelanguages with no function overloading.

The methods for creating the super images based on the compiled imagesmay be performed using the following steps. Each unit test code thatrequires the use of stubbed out functions is compiled as a single image.Then, as many different images as is necessary to the final test suiteare compiled. All compiled images are fed into a mega-image creationprogram (MICP). MICP, for each image, locates the position of that imagein memory such that it does not conflict with memory requirements ofother images. Then the MICP, for every image, adjusts the machineinstructions within to reflect the new final address location. Next theMICP, as part of the final mega-image creation, creates a table of entrypoints into each sub-image withing the mega image that is thecombination of all the sub-images, as well as the unit test framework.Next, the mega image is flashed onto the target hardware. At this pointhardware test may be run to collect test data. The ability to quicklyperform on-target unit tests lowers their barrier to entry, and hencemakes ISO26262 ASIL certification easier to obtain and allows fasterproduction of ASIL rated software.

FIG. 19 shows exemplary code for a Second Unit that is used to test afirst Unit. The code for the second unit may include code for a functionFunction 2 which is a real function that may produce variable outputs.

FIG. 20 shows exemplary code for a First Unit that is used that is beingtested. As can be seen, a function unit 32_t_to_test_one includes afunction call to Function 2 at line 111 of code. As mentioned above, itmay be advantageous to replace the real Function 2 function with astubbed out or fake function that returns values set by the programmer(e.g., to iterate through all possible outputs).

FIG. 21 shows an exemplary result produced by the MICP that stitches animage for code of FIG. 19 and an image for code of FIG. 20 within asingle mega-image 2101. Notably, the mega-image 2101 includes a jumptable that enables function Function 1 (at line 105) in sub-image one2102 to call real function Function 2 at line 246 in addition to callingthe fake function at line 193. The line numbers for function Function 2may have been changed by MICP to avoid memory conflicts. One skilled inthe art will note that while FIGS. 19-21 show C language code, any otherprogramming language may have been used (e.g., assembly languagespecific to hardware being tested).

The system and method described herein is not limited to the use oftesting. The system may be used whenever function overloading isbeneficial including for readability or to save memory space, amongother uses.

Some embodiments may include a method for overloading a function, asshown in FIG. 21 a , the method comprising compiling a first image of afirst version of the function 2110, compiling a second image of a secondversion of the function 2120, and generating a stitched super-image byplacing code defining the first version of the function and codedefining the second version of the function into a memory partition,wherein the code defining the second version of the function is adjustedto not conflict with the code of the first version of the function, andgenerating a table that is used to selectively call either one of thefirst version of the function and the second version of the function2130. In some embodiments the first version of the function and thesecond version of the function are written in code that does not allowoverloading functions. In some embodiments the first version of thefunction and the second version of the function are written in C code.In some embodiments the memory partition is location within a vehicle.In some embodiments the table defines a respective memory address foreach of the first version of the function and the second version of thefunction. In some embodiments the first image of the first version ofthe function comprises first assembler code and the second image of thesecond version of the function comprises second assembler coder. Someembodiments further comprising calling each version of the function inthe stitched super-image based on the table.

The foregoing is merely illustrative of the principles of thisdisclosure, and various modifications may be made by those skilled inthe art without departing from the scope of this disclosure. The abovedescribed embodiments are presented for purposes of illustration and notof limitation. The present disclosure also can take many forms otherthan those explicitly described herein. Accordingly, it is emphasizedthat this disclosure is not limited to the explicitly disclosed methods,systems, and apparatuses, but is intended to include variations to andmodifications thereof, which are within the spirit of the followingparagraphs.

What is claimed is:
 1. A system for a first type of synchronizationbetween a first client, a second client, and a time server, eachassociated with a respective local clock, the system comprising: thetime server connected to a bus, the first client connected to the bus,the second client connected to the bus, wherein: the first client isconfigured to request the first type of synchronization with the timeserver by transmitting over the bus a synchronization message the timeserver is configured to generate a periodic synchronization messagecommunicated over the bus, the time server is configured to adjust theperiodic synchronization message based on the first type ofsynchronization request from the first client by adjusting the nextperiodic synchronization message to include: (a) a first time indicativeof when the first client transmitted the synchronization message, (b) asecond time indicative of when the time server received the first typeof synchronization request, and (c) a third time indicative of when theperiodic synchronization message was sent by the time server, the firstclient is configured to perform the first type of synchronization basedon the adjusted periodic synchronization message, and the second clientis configured to perform a second type of synchronization based on theadjusted periodic synchronization message.
 2. The system of claim 1,wherein the first client is further configured to perform the first typeof synchronization based on content of the adjusted periodicsynchronization message and on a time of receipt of the adjustedperiodic synchronization message.
 3. The system of claim 1, wherein thefirst client, the second client, and the time server are located on avehicle.
 4. The system of claim 1, wherein the synchronization messagecomprises data indicative of the first time.
 5. The system of claim 1,further comprising memory for storing information about delays betweenthe time server and the first client.
 6. The system of claim 5, furthercomprising processing circuitry that determines a pattern based on thedelays and causes synchronization between the first client and the timeserver to occur based on the pattern.
 7. A method for a first type ofsynchronization between a first client, a second client, and a timeserver, each associated with a respective local clock and each connectedto a bus, the method comprising: generating by the time server aperiodic synchronization message to be communicated over the bus,receiving at the time server over the bus a synchronization messagecomprising a request for first type of synchronization from the firstclient, in response to receiving the synchronization message, adjustingby the time server the periodic synchronization message based on thefirst type of synchronization request by adjusting the next periodicsynchronization message to include: (a) a first time indicative of whenthe first client transmitted the synchronization message, (b) a secondtime indicative of when the time server received the first type ofsynchronization request, and (c) a third time indicative of when theperiodic synchronization message was sent by the time server, performingby the first client the first type of synchronization based on theadjusted periodic synchronization message, and performing by the secondclient a second type of synchronization based on the adjusted periodicsynchronization message.
 8. The method of claim 7, further comprisingperforming the first type of synchronization based on content of theadjusted periodic synchronization message and on a time of receipt ofthe adjusted periodic synchronization message.
 9. The method of claim 7,wherein the first client, the second client, and the time server arelocated on a vehicle.
 10. The method of claim 7, wherein thesynchronization message comprises data indicative of the first time. 11.The method of claim 7, further comprising storing information aboutdelays between the time server and the first client in a memory.
 12. Themethod of claim 11, further comprising determining by a processingcircuitry a pattern based on the delays and causes synchronizationbetween the first client and the time server to occur based on thepattern.
 13. A non-transitory computer-readable medium havingnon-transitory computer-readable instructions encoded thereon that, whenexecuted by a processor, causes the processor to: generate by a timeserver a periodic synchronization message to be communicated over a bus,receive at the time server over the bus a synchronization messagecomprising a request for a first type of synchronization from a firstclient, in response to receiving the synchronization message, adjust bythe time server the periodic synchronization message based on the firsttype of synchronization request by adjusting the next periodicsynchronization message to include: (a) a first time indicative of whenthe first client transmitted the synchronization message, (b) a secondtime indicative of when the time server received the first type ofsynchronization request, and (c) a third time indicative of when theperiodic synchronization message was sent by the time server, perform bythe first client the first type of synchronization based on the adjustedperiodic synchronization message, and perform by a second client asecond type of synchronization based on the adjusted periodicsynchronization message.
 14. The computer-readable medium of claim 13,further comprising causing the processor to perform the first type ofsynchronization based on content of the adjusted periodicsynchronization message and on a time of receipt of the adjustedperiodic synchronization message.
 15. The computer-readable medium ofclaim 13, wherein the first client, the second client, and the timeserver are located on a vehicle.
 16. The computer-readable medium ofclaim 13, wherein the synchronization message comprises data indicativeof the first time.
 17. The computer-readable medium of claim 13, furthercomprising causing the processor to store information about delaysbetween the time server and the first client in a memory.
 18. Thecomputer-readable medium of claim 17, further comprising causing theprocessor to determine a pattern based on the delays and causessynchronization between the first client and the time server to occurbased on the pattern.